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Pi0.5

Robotics
PyTorch
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Pi0.5: Optimized for Qualcomm Devices

Pi0.5 is a vision-language-action model that co-trains on diverse data sources (robot demos, web data, semantic subtasks) to enable open-world generalization for long-horizon robotic manipulation.

This is based on the implementation of Pi0.5 found here. This repository contains pre-exported model files optimized for Qualcomm® devices. You can use the Qualcomm® AI Hub Models library to export with custom configurations. More details on model performance across various devices, can be found here.

Qualcomm AI Hub Models uses Qualcomm AI Hub Workbench to compile, profile, and evaluate this model. Sign up to run these models on a hosted Qualcomm® device.

Getting Started

There are two ways to deploy this model on your device:

Option 1: Download Pre-Exported Models

Below are pre-exported model assets ready for deployment.

Runtime Precision Chipset SDK Versions Download
PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-9075 QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Mobile QAIRT 2.45, ONNX Runtime 1.27.1 Download
PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile QAIRT 2.45, ONNX Runtime 1.27.1 Download
QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Snapdragon® X Elite QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-9075 QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Mobile QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile QAIRT 2.45 Download

For more device-specific assets and performance metrics, visit Pi0.5 on Qualcomm® AI Hub.

Option 2: Export with Custom Configurations

Use the Qualcomm® AI Hub Models Python library to compile and export the model with your own:

  • Custom weights (e.g., fine-tuned checkpoints)
  • Custom input shapes
  • Target device and runtime configurations

This option is ideal if you need to customize the model beyond the default configuration provided here.

See our repository for Pi0.5 on GitHub for usage instructions.

Model Details

Model Type: Model_use_case.robotics

Model Stats:

  • Number of cameras: 3
  • Action chunk size: 50
  • Vision resolution: 224x224
  • Quantization: Mixed (w4a16 backbone, w8a16 vision encoder and action expert)

Performance Summary

Model Runtime Precision Chipset Inference Time (ms) Peak Memory Range (MB) Primary Compute Unit
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 13.859 ms 35 - 35 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 28.652 ms 387 - 387 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 22.424 ms 35 - 47 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 29.775 ms 35 - 37 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-9075 30.909 ms 34 - 71 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-X7181 28.652 ms 387 - 387 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ Q-8750 16.889 ms 15 - 28 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Mobile 16.889 ms 15 - 28 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 14.138 ms 30 - 41 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 14.519 ms 34 - 34 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 28.644 ms 34 - 34 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 22.246 ms 35 - 42 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8275 53.923 ms 3 - 11 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 29.675 ms 35 - 37 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 29.637 ms 20 - 29 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 29.637 ms 20 - 29 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 29.637 ms 20 - 29 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-9075 36.431 ms 34 - 70 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-X7181 28.644 ms 34 - 34 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ Q-8750 16.973 ms 15 - 24 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 53.923 ms 3 - 11 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Mobile 16.973 ms 15 - 24 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 14.12 ms 29 - 37 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 250.548 ms 131 - 131 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 444.242 ms 924 - 924 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 333.276 ms 85 - 97 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 461.92 ms 73 - 75 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-9075 397.831 ms 12 - 27 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-X7181 444.242 ms 924 - 924 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ Q-8750 291.31 ms 75 - 86 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Mobile 291.31 ms 75 - 86 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 259.702 ms 74 - 86 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 250.252 ms 12 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 445.26 ms 12 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 336.779 ms 13 - 20 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8275 1094.311 ms 1 - 9 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 460.887 ms 13 - 15 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 404.91 ms 4 - 13 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 404.91 ms 4 - 13 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 404.91 ms 4 - 13 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-9075 397.272 ms 12 - 60 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-X7181 445.26 ms 12 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ Q-8750 292.952 ms 0 - 10 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 1094.311 ms 1 - 9 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Mobile 292.952 ms 0 - 10 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 259.693 ms 4 - 12 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 2.147 ms 39 - 39 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 3.344 ms 1002 - 1002 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 2.828 ms 0 - 13 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 3.604 ms 0 - 1019 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-9075 4.339 ms 6 - 15 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-X7181 3.344 ms 1002 - 1002 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ Q-8750 2.881 ms 0 - 12 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Mobile 2.881 ms 0 - 12 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 2.185 ms 0 - 12 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 2.33 ms 6 - 6 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 3.429 ms 6 - 6 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 2.672 ms 0 - 8 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8275 6.307 ms 2 - 11 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 3.593 ms 2 - 3 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 4.373 ms 1 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 4.373 ms 1 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 4.373 ms 1 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-9075 4.24 ms 6 - 26 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-X7181 3.429 ms 6 - 6 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ Q-8750 2.78 ms 0 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 6.307 ms 2 - 11 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Mobile 2.78 ms 0 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 2.19 ms 2 - 10 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 16.832 ms 5 - 5 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 42.921 ms 516 - 516 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 27.828 ms 5 - 17 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 41.768 ms 0 - 641 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-9075 40.385 ms 4 - 7 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-X7181 42.921 ms 516 - 516 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ Q-8750 21.381 ms 5 - 17 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Mobile 21.381 ms 5 - 17 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 16.583 ms 5 - 17 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 17.124 ms 1 - 1 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 43.164 ms 1 - 1 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 27.45 ms 1 - 8 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8275 84.461 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 41.764 ms 1 - 3 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 39.989 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 39.989 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 39.989 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-9075 40.675 ms 1 - 5 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-X7181 43.164 ms 1 - 1 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ Q-8750 21.245 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 84.461 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Mobile 21.245 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 16.505 ms 1 - 9 MB NPU

License

  • The license for the original implementation of Pi0.5 can be found here.

References

Community

Usage and Limitations

This model may not be used for or in connection with any of the following applications:

  • Accessing essential private and public services and benefits;
  • Administration of justice and democratic processes;
  • Assessing or recognizing the emotional state of a person;
  • Biometric and biometrics-based systems, including categorization of persons based on sensitive characteristics;
  • Education and vocational training;
  • Employment and workers management;
  • Exploitation of the vulnerabilities of persons resulting in harmful behavior;
  • General purpose social scoring;
  • Law enforcement;
  • Management and operation of critical infrastructure;
  • Migration, asylum and border control management;
  • Predictive policing;
  • Real-time remote biometric identification in public spaces;
  • Recommender systems of social media platforms;
  • Scraping of facial images (from the internet or otherwise); and/or
  • Subliminal manipulation
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