---
license: apache-2.0
library_name: lerobot
pipeline_tag: robotics
---
π0+FAST: Efficient Action Tokenization for Vision-Language-Action Models

[Paper](https://arxiv.org/abs/2501.09747)
[Jax code](https://github.com/Physical-Intelligence/openpi)

Designed by Physical Intelligence. Ported from Jax by Hugging Face.

Example of finetuning the pi0+FAST pretrained model (`pi0_fast_base` in `openpi`):
```bash
python lerobot/scripts/train.py \
--policy.path=lerobot/pi0fast_base \
--dataset.repo_id=danaaubakirova/koch_test
```

Example of training the pi0+FAST neural network with from scratch:
```bash
python lerobot/scripts/train.py \
--policy.type=pi0fast \
--dataset.repo_id=danaaubakirova/koch_test
```

Example of using the pi0 pretrained model outside LeRobot training framework:
```python
policy = PI0FASTPolicy.from_pretrained("lerobot/pi0fast_base")