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metadata 
library_name: pytorch
license: other
tags:
  - generative_ai
  - robotics
  - android
pipeline_tag: robotics

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™ IQ-8275 QAIRT 2.45 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™ IQ-8275 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:

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

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 13.813 ms 35 - 35 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 28.761 ms 386 - 386 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 22.476 ms 35 - 47 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 29.556 ms 35 - 37 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-9075 30.432 ms 34 - 71 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-X7181 28.761 ms 386 - 386 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ Q-8750 16.84 ms 16 - 27 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Mobile 16.84 ms 16 - 27 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 14.313 ms 30 - 42 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 14.48 ms 34 - 34 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 28.552 ms 34 - 34 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 21.767 ms 35 - 42 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-8275 54.007 ms 20 - 28 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 29.327 ms 35 - 36 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 29.686 ms 14 - 23 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 29.686 ms 14 - 23 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 29.686 ms 14 - 23 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-9075 30.334 ms 36 - 72 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-X7181 28.552 ms 34 - 34 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ Q-8750 17.076 ms 15 - 24 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 54.007 ms 20 - 28 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Mobile 17.076 ms 15 - 24 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 14.081 ms 29 - 38 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 250.919 ms 132 - 132 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 447.321 ms 924 - 924 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 334.829 ms 85 - 95 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 460.169 ms 0 - 1013 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-9075 398.601 ms 12 - 27 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-X7181 447.321 ms 924 - 924 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ Q-8750 298.56 ms 75 - 86 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Mobile 298.56 ms 75 - 86 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 265.764 ms 75 - 87 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 248.014 ms 12 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 447.106 ms 12 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 329.717 ms 12 - 20 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-8275 1091.537 ms 4 - 13 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 433.501 ms 12 - 14 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 404.625 ms 1 - 10 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 404.625 ms 1 - 10 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 404.625 ms 1 - 10 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-9075 398.508 ms 12 - 60 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-X7181 447.106 ms 12 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ Q-8750 291.649 ms 0 - 9 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 1091.537 ms 4 - 13 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Mobile 291.649 ms 0 - 9 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 261.596 ms 4 - 13 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 2.117 ms 39 - 39 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 3.365 ms 1002 - 1002 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 2.75 ms 0 - 10 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 3.59 ms 0 - 1018 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-9075 4.333 ms 6 - 15 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-X7181 3.365 ms 1002 - 1002 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ Q-8750 2.885 ms 1 - 13 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Mobile 2.885 ms 1 - 13 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 2.192 ms 1 - 13 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 2.277 ms 6 - 6 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 3.691 ms 6 - 6 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 2.677 ms 1 - 8 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-8275 6.291 ms 0 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 3.574 ms 2 - 17 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 4.334 ms 0 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 4.334 ms 0 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 4.334 ms 0 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-9075 4.512 ms 6 - 26 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-X7181 3.691 ms 6 - 6 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ Q-8750 2.777 ms 0 - 10 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 6.291 ms 0 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Mobile 2.777 ms 0 - 10 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 2.189 ms 2 - 11 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 16.779 ms 5 - 5 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 43.126 ms 516 - 516 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 27.862 ms 5 - 17 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 41.639 ms 5 - 7 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-9075 40.636 ms 4 - 7 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ IQ-X7181 43.126 ms 516 - 516 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® Dragonwing™ Q-8750 21.398 ms 5 - 17 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Mobile 21.398 ms 5 - 17 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 16.523 ms 5 - 17 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 17.155 ms 1 - 1 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 43.129 ms 1 - 1 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 27.711 ms 1 - 8 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-8275 84.45 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ QCS8550 (Proxy) 41.652 ms 1 - 3 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 39.927 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 39.927 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 39.927 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-9075 40.076 ms 1 - 5 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ IQ-X7181 43.129 ms 1 - 1 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® Dragonwing™ Q-8750 21.281 ms 1 - 14 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 84.45 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Mobile 21.281 ms 1 - 14 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 16.499 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