π₀.₇：一个具备涌现能力的可操控通用机器人基础模型
机器学习
2026-04-28 v2 机器人学
摘要
我们提出了一个新的机器人基础模型，名为 π₀.₇，它能在广泛的场景中实现强大的开箱即用性能。π₀.₇ 可以在未见过的环境中遵循多样的语言指令，包括使用各种厨房电器的多阶段任务，提供零样本跨具身泛化，例如使机器人能够在从未见过该任务的情况下折叠衣物，并执行具有挑战性的任务，如开箱即用地操作意式浓缩咖啡机，其性能水平可与更专业的强化学习微调模型相媲美。π₀.₇ 背后的主要思想是在训练期间使用多样化的上下文条件化。这些包含在提示中的条件化信息使得能够精确地操控模型，以不同的策略执行许多任务。它不仅以描述应做什么的语言命令为条件，还以额外的多模态信息为条件，这些信息也描述了执行任务的方式或策略，包括关于任务性能的元数据和子目标图像。这使得 π₀.₇ 能够使用非常多样化的数据，包括演示、可能次优的（自主）数据（包括失败案例）以及来自非机器人源的数据。我们的实验在多个机器人平台上的众多任务中评估了 π₀.₇，这些任务要求速度和灵巧性、语言遵循以及组合式任务泛化。
引用
@article{arxiv.2604.15483,
title = {${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities},
author = {Physical Intelligence and Bo Ai and Ali Amin and Raichelle Aniceto and Ashwin Balakrishna and Greg Balke and Kevin Black and George Bokinsky and Shihao Cao and Thomas Charbonnier and Vedant Choudhary and Foster Collins and Ken Conley and Grace Connors and James Darpinian and Karan Dhabalia and Maitrayee Dhaka and Jared DiCarlo and Danny Driess and Michael Equi and Adnan Esmail and Yunhao Fang and Chelsea Finn and Catherine Glossop and Thomas Godden and Ivan Goryachev and Lachlan Groom and Haroun Habeeb and Hunter Hancock and Karol Hausman and Gashon Hussein and Victor Hwang and Brian Ichter and Connor Jacobsen and Szymon Jakubczak and Rowan Jen and Tim Jones and Gregg Kammerer and Ben Katz and Liyiming Ke and Mairbek Khadikov and Chandra Kuchi and Marinda Lamb and Devin LeBlanc and Brendon LeCount and Sergey Levine and Xinyu Li and Adrian Li-Bell and Vladislav Lialin and Zhonglin Liang and Wallace Lim and Yao Lu and Enyu Luo and Vishnu Mano and Nandan Marwaha and Aikys Mongush and Liam Murphy and Suraj Nair and Tyler Patterson and Karl Pertsch and Allen Z. Ren and Gavin Schelske and Charvi Sharma and Baifeng Shi and Lucy Xiaoyang Shi and Laura Smith and Jost Tobias Springenberg and Kyle Stachowicz and Will Stoeckle and Jiaming Tang and Jimmy Tanner and Shalom Tekeste and Marcel Torne and Kyle Vedder and Quan Vuong and Anna Walling and Haohuan Wang and Jason Wang and XuDong Wang and Chris Whalen and Samuel Whitmore and Blake Williams and Charles Xu and Sukwon Yoo and Lili Yu and Wuming Zhang and Zhuoyang Zhang and Ury Zhilinsky},
journal= {arXiv preprint arXiv:2604.15483},
year = {2026}
}
备注
Website: https://www.pi.website/blog/pi07