Pi0-Fast is a variant of Pi0 that uses a new tokenization method called FAST, which enables training of an autoregressive vision-language-action policy for high-frequency robotic tasks with improved performance and reduced training time.

This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.

For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:

Prefix the dataset repo with eval_ and supply --policy.path pointing to a local or hub checkpoint.