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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® X2 Elite	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	mixed	Snapdragon® X Elite	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Gen 3 Mobile	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-8275	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-9075	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Mobile	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Gen 5 Mobile	QAIRT 2.45, ONNX Runtime 1.27.1	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® Dragonwing™ IQ-8275	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8775P	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-9075	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	mixed	Qualcomm® SA7255P	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Mobile	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Gen 5 Mobile	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:

Action chunk size: 50
Number of cameras: 3
Quantization: Mixed (w4a16 backbone, w8a16 vision encoder and action expert)
Vision resolution: 224x224

Performance Summary

Model	Runtime	Precision	Chipset	Inference Time (ms)	Peak Memory Range (MB)	Primary Compute Unit
action_expert	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® X2 Elite	13.776 ms	35 - 35 MB	NPU
action_expert	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® X Elite	28.423 ms	385 - 385 MB	NPU
action_expert	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Gen 3 Mobile	22.661 ms	35 - 47 MB	NPU
action_expert	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-8275	29.303 ms	34 - 72 MB	NPU
action_expert	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	29.741 ms	0 - 414 MB	NPU
action_expert	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-9075	30.501 ms	34 - 72 MB	NPU
action_expert	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-X7181	28.423 ms	385 - 385 MB	NPU
action_expert	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ Q-8750	16.835 ms	16 - 27 MB	NPU
action_expert	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Mobile	16.835 ms	16 - 27 MB	NPU
action_expert	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Gen 5 Mobile	14.7 ms	30 - 43 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Snapdragon® X2 Elite	14.513 ms	34 - 34 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Snapdragon® X Elite	28.581 ms	34 - 34 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Gen 3 Mobile	22.033 ms	34 - 42 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-8275	28.913 ms	34 - 71 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-8275	53.953 ms	14 - 22 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	29.429 ms	35 - 36 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8775P	29.732 ms	0 - 10 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8650P	29.732 ms	0 - 10 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8255P	29.732 ms	0 - 10 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-9075	30.961 ms	34 - 70 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-X7181	28.581 ms	34 - 34 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ Q-8750	17.159 ms	15 - 24 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA7255P	53.953 ms	14 - 22 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Mobile	17.159 ms	15 - 24 MB	NPU
action_expert	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Gen 5 Mobile	14.122 ms	28 - 37 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® X2 Elite	249.894 ms	131 - 131 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® X Elite	444.291 ms	924 - 924 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Gen 3 Mobile	332.842 ms	85 - 95 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-8275	429.257 ms	23 - 39 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	458.356 ms	0 - 1013 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-9075	398.831 ms	12 - 27 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-X7181	444.291 ms	924 - 924 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ Q-8750	298.203 ms	74 - 86 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Mobile	298.203 ms	74 - 86 MB	NPU
backbone	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Gen 5 Mobile	272.077 ms	74 - 85 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Snapdragon® X2 Elite	250.205 ms	12 - 12 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Snapdragon® X Elite	447.549 ms	12 - 12 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Gen 3 Mobile	333.035 ms	12 - 19 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-8275	428.595 ms	12 - 61 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-8275	1092.262 ms	3 - 13 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	458.312 ms	13 - 14 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8775P	403.971 ms	4 - 13 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8650P	403.971 ms	4 - 13 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8255P	403.971 ms	4 - 13 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-9075	397.164 ms	12 - 60 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-X7181	447.549 ms	12 - 12 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ Q-8750	295.498 ms	0 - 9 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA7255P	1092.262 ms	3 - 13 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Mobile	295.498 ms	0 - 9 MB	NPU
backbone	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Gen 5 Mobile	269.876 ms	4 - 14 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® X2 Elite	2.082 ms	39 - 39 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® X Elite	3.648 ms	1002 - 1002 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Gen 3 Mobile	2.768 ms	0 - 11 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-8275	4.384 ms	6 - 16 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	3.612 ms	0 - 1018 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-9075	4.337 ms	6 - 15 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-X7181	3.648 ms	1002 - 1002 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ Q-8750	2.888 ms	1 - 14 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Mobile	2.888 ms	1 - 14 MB	NPU
token_emb	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Gen 5 Mobile	2.194 ms	2 - 15 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Snapdragon® X2 Elite	2.392 ms	6 - 6 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Snapdragon® X Elite	3.472 ms	6 - 6 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Gen 3 Mobile	2.711 ms	0 - 7 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-8275	4.314 ms	6 - 27 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-8275	6.257 ms	0 - 8 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	3.72 ms	2 - 3 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8775P	4.384 ms	0 - 10 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8650P	4.384 ms	0 - 10 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8255P	4.384 ms	0 - 10 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-9075	4.27 ms	6 - 26 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-X7181	3.472 ms	6 - 6 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ Q-8750	2.792 ms	0 - 10 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA7255P	6.257 ms	0 - 8 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Mobile	2.792 ms	0 - 10 MB	NPU
token_emb	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Gen 5 Mobile	2.196 ms	2 - 11 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® X2 Elite	16.839 ms	5 - 5 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® X Elite	43.118 ms	516 - 516 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Gen 3 Mobile	27.646 ms	5 - 16 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-8275	36.105 ms	4 - 8 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	41.78 ms	0 - 641 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-9075	50.99 ms	4 - 7 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ IQ-X7181	43.118 ms	516 - 516 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Qualcomm® Dragonwing™ Q-8750	21.369 ms	5 - 17 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Mobile	21.369 ms	5 - 17 MB	NPU
vision_encoder	PRECOMPILED_QNN_ONNX	mixed	Snapdragon® 8 Elite Gen 5 Mobile	16.741 ms	5 - 17 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Snapdragon® X2 Elite	17.149 ms	1 - 1 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Snapdragon® X Elite	43.091 ms	1 - 1 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Gen 3 Mobile	27.584 ms	1 - 8 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-8275	36.292 ms	1 - 6 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-8275	84.485 ms	1 - 10 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ QCS8550 (Proxy)	41.663 ms	1 - 2 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8775P	39.945 ms	1 - 10 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8650P	39.945 ms	1 - 10 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA8255P	39.945 ms	1 - 10 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-9075	40.315 ms	1 - 5 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ IQ-X7181	43.091 ms	1 - 1 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® Dragonwing™ Q-8750	21.244 ms	1 - 10 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Qualcomm® SA7255P	84.485 ms	1 - 10 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Mobile	21.244 ms	1 - 10 MB	NPU
vision_encoder	QNN_CONTEXT_BINARY	mixed	Snapdragon® 8 Elite Gen 5 Mobile	16.457 ms	1 - 9 MB	NPU

License

The license for the original implementation of Pi0.5 can be found here.

References

Community

Join our AI Hub Slack community to collaborate, post questions and learn more about on-device AI.
For questions or feedback please reach out to us.

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

qualcomm/Pi0.5