Does π0-FAST run on Universal Robots UR5e?
works with caveats
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | ev-fast-paper | |
| Real-robot inference | works | ev-fast-paper | |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Caveats
- The evidence is the authors' own UR5e evaluation; openpi releases no UR5e π0-FAST checkpoint or UR5e training config.
Evidence 1 source; the cell shows the highest tier
- T1 · upstream documentedpapersource 2025-01-16verified 2026-10-24 (1d ago)
The FAST paper trains and evaluates π0-FAST on a single-arm UR5e table-bussing task and evaluates grocery bagging on a UR5e out of the box.
“This task requires a single UR5e robot arm to clean a table by bussing objects (a mixture of trash, plates, and dishes) into a trash can or bussing bin.”
https://arxiv.org/abs/2501.09747
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- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij