Psi0 Hands On

Introducing Ψ₀ — the first open-source foundation model that teaches humanoid robots to walk and manipulate objects simultaneously.

Deep-dive into the Ψ₀ architecture: System-2 (VLM), System-1 (MM-DiT), System-0 (RL Controller) — the brain, hands, and legs of the robot.

Explore Psi0's data recipe — why 860h of data beats 10,000h, how to process EgoDex, Humanoid Everyday, and LeRobot format.

Step-by-step guide to setting up the Psi0 environment and running the 3-stage training pipeline: pre-train, post-train, fine-tune.

Guide to deploying the Psi0 model, running inference in the SIMPLE simulator, and evaluating results with Real-Time Chunking.

An ablation study removes one component at a time to measure what actually matters. Explained with a supplement analogy, plus 5 real ablations from Psi0.