Comment on π0.5: A VLA with open-world generalizationparentComments−davidguetta1yThat's not the reason, Pi0 was basically predicting at 10hz and predicting a temporal chunk up to 50 points so it could go up to 500Hz.It's slow because the original telop is slow, and the learned controllers through imitation learning is always a bit slower.Source : i work on this (not at PI)−cloudbonsai1yAnother practical reason is that it's dangerous.Pi0 uses ARX robot arm which weights 3-4kg per arm. It can easily break things or harm people if you allow it to move fast.−davidguetta1yNot really if you clamp the torque aggressively.But yeah in general the physical world is more dangerous than we tend to think
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That's not the reason, Pi0 was basically predicting at 10hz and predicting a temporal chunk up to 50 points so it could go up to 500Hz.
It's slow because the original telop is slow, and the learned controllers through imitation learning is always a bit slower.
Source : i work on this (not at PI)
Another practical reason is that it's dangerous.
Pi0 uses ARX robot arm which weights 3-4kg per arm. It can easily break things or harm people if you allow it to move fast.
Not really if you clamp the torque aggressively.
But yeah in general the physical world is more dangerous than we tend to think