Turbo-Pi0.5
14.7x faster Pi0.5 VLA model optimized for NVIDIA Jetson Thor
| Metric | Before | After |
|---|---|---|
| Inference Speed | 1.4 Hz | 20.6 Hz |
| Latency | 714 ms | 48.5 ms |
| LIBERO Spatial | - | 98% |
Usage
# Download model
huggingface-cli download liangsu9988/Turbo-Pi0.5 \
--local-dir ~/.cache/openpi/checkpoints/pi05_libero
# Run inference server
python scripts/serve_policy.py --env=LIBERO --port=8000 \
policy:checkpoint --policy.config=pi05_libero
Architecture
- Vision: SigLIP-SO400M
- Language: Gemma 2B
- Action: Gemma 300M Expert
Optimizations
- KV Cache for efficient denoising
- TensorRT FP16 acceleration
- Reduced denoising steps (10 → 3)
LIBERO Spatial Results (98%)
| Task | Success |
|---|---|
| pick_up_black_bowl_between_plate_and_ramekin | 100% |
| pick_up_black_bowl_next_to_ramekin | 100% |
| pick_up_black_bowl_from_table_center | 100% |
| pick_up_black_bowl_next_to_cookie_box | 100% |
| pick_up_black_bowl_in_top_drawer | 100% |
| pick_up_black_bowl_on_ramekin | 80% |
| pick_up_black_bowl_on_cookie_box | 100% |
| pick_up_black_bowl_on_stove | 100% |
| pick_up_black_bowl_next_to_plate | 100% |
| pick_up_black_bowl_on_wooden_cabinet | 100% |
Links
License
Apache License 2.0