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Pi0.5

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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® 8 Elite Gen 5 Mobile QAIRT 2.42, ONNX Runtime 1.25.0 Download
PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite QAIRT 2.42, ONNX Runtime 1.25.0 Download
PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite QAIRT 2.42, ONNX Runtime 1.25.0 Download
PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile QAIRT 2.42, ONNX Runtime 1.25.0 Download
PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS8550 (Proxy) QAIRT 2.42, ONNX Runtime 1.25.0 Download
PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite For Galaxy Mobile QAIRT 2.42, ONNX Runtime 1.25.0 Download
PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS9075 QAIRT 2.42, ONNX Runtime 1.25.0 Download
QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile QAIRT 2.45 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® QCS8550 (Proxy) QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite For Galaxy Mobile QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P QAIRT 2.45 Download
QNN_CONTEXT_BINARY mixed Qualcomm® QCS9075 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® 8 Elite Gen 5 Mobile 14.351 ms 34 - 45 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 13.895 ms 35 - 35 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 27.871 ms 385 - 385 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 21.695 ms 35 - 46 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS8550 (Proxy) 29.435 ms 0 - 414 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite For Galaxy Mobile 16.73 ms 15 - 26 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS9075 30.391 ms 34 - 72 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS8750 16.73 ms 15 - 26 MB NPU
action_expert PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS7181 27.871 ms 385 - 385 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 14.162 ms 34 - 43 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 14.483 ms 34 - 34 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 29.061 ms 34 - 34 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 21.741 ms 34 - 42 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® QCS8275 54.063 ms 16 - 24 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® QCS8550 (Proxy) 29.463 ms 35 - 36 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 29.613 ms 24 - 33 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 29.613 ms 24 - 33 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 29.613 ms 24 - 33 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 54.063 ms 16 - 24 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite For Galaxy Mobile 16.908 ms 15 - 24 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® QCS9075 31.01 ms 34 - 70 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® QCS8750 16.908 ms 15 - 24 MB NPU
action_expert QNN_CONTEXT_BINARY mixed Qualcomm® QCS7181 29.061 ms 34 - 34 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 252.042 ms 91 - 100 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 252.155 ms 130 - 130 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 456.462 ms 924 - 924 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 329.637 ms 86 - 98 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS8550 (Proxy) 467.12 ms 0 - 1013 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite For Galaxy Mobile 299.059 ms 75 - 87 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS9075 409.681 ms 12 - 27 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS8750 299.059 ms 75 - 87 MB NPU
backbone PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS7181 456.462 ms 924 - 924 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 252.981 ms 19 - 27 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 255.185 ms 12 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 445.947 ms 12 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 334.542 ms 12 - 20 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® QCS8275 1097.114 ms 1 - 8 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® QCS8550 (Proxy) 458.423 ms 12 - 15 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 404.91 ms 1 - 9 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 404.91 ms 1 - 9 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 404.91 ms 1 - 9 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 1097.114 ms 1 - 8 MB NPU
backbone QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite For Galaxy Mobile 291.475 ms 1 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® QCS9075 398.878 ms 12 - 60 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® QCS8750 291.475 ms 1 - 12 MB NPU
backbone QNN_CONTEXT_BINARY mixed Qualcomm® QCS7181 445.947 ms 12 - 12 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 2.234 ms 1 - 10 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 2.322 ms 39 - 39 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 3.829 ms 1002 - 1002 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 2.981 ms 1 - 13 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS8550 (Proxy) 4.132 ms 0 - 1019 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite For Galaxy Mobile 2.842 ms 1 - 14 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS9075 4.574 ms 6 - 15 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS8750 2.842 ms 1 - 14 MB NPU
token_emb PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS7181 3.829 ms 1002 - 1002 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 2.177 ms 2 - 11 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 2.238 ms 6 - 6 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 3.395 ms 6 - 6 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 2.704 ms 1 - 8 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® QCS8275 6.253 ms 0 - 7 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® QCS8550 (Proxy) 3.567 ms 2 - 3 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 4.506 ms 0 - 8 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 4.506 ms 0 - 8 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 4.506 ms 0 - 8 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 6.253 ms 0 - 7 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite For Galaxy Mobile 2.77 ms 0 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® QCS9075 4.241 ms 6 - 26 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® QCS8750 2.77 ms 0 - 9 MB NPU
token_emb QNN_CONTEXT_BINARY mixed Qualcomm® QCS7181 3.395 ms 6 - 6 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite Gen 5 Mobile 18.395 ms 5 - 14 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® X2 Elite 18.563 ms 5 - 5 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® X Elite 42.81 ms 516 - 516 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Gen 3 Mobile 27.976 ms 5 - 15 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS8550 (Proxy) 41.368 ms 0 - 641 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Snapdragon® 8 Elite For Galaxy Mobile 21.599 ms 5 - 15 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS9075 40.046 ms 4 - 8 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS8750 21.599 ms 5 - 15 MB NPU
vision_encoder PRECOMPILED_QNN_ONNX mixed Qualcomm® QCS7181 42.81 ms 516 - 516 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite Gen 5 Mobile 16.442 ms 1 - 10 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® X2 Elite 17.136 ms 1 - 1 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® X Elite 43.171 ms 1 - 1 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® 8 Gen 3 Mobile 27.428 ms 1 - 7 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® QCS8275 84.513 ms 1 - 8 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® QCS8550 (Proxy) 41.584 ms 1 - 2 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA8775P 39.991 ms 1 - 8 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA8650P 39.991 ms 1 - 8 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA8255P 39.991 ms 1 - 8 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® SA7255P 84.513 ms 1 - 8 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Snapdragon® 8 Elite For Galaxy Mobile 21.368 ms 1 - 14 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® QCS9075 40.601 ms 1 - 5 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® QCS8750 21.368 ms 1 - 14 MB NPU
vision_encoder QNN_CONTEXT_BINARY mixed Qualcomm® QCS7181 43.171 ms 1 - 1 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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