Pi0 post-trained for Liver Scan
Pi0 post-trained for Liver Scan#
π0 (Physical Intelligence) VLA fine-tuned for liver ultrasound sweep in Isaac for Healthcare. Uses Cosmos-transfer augmented data. Input: wrist + room camera (224×224), text (250 tokens), 7D joint state. Output: next 50 6D relative actions. Trained on 400 simulated sweeps plus 400 Cosmos-transfer augmented. For use within Isaac for Healthcare only.
| Property | Details |
|---|---|
| Model size | 3B parameters (π0) |
| Model type | Vision Language Action (VLA); JAX 0.5.0; PaliGemma VLM + MoE action-expert |
| Performance | 77.0% average success rate @ 0.01 m (50 eval examples, 3 runs). Inference: RTX 4090 100 ms, 9 GB. Supported: Ampere, Blackwell, Hopper. |
| Workflow | Robotic Ultrasound |
| Hugging Face | nvidia/Liver_Scan_Pi0_Cosmos_Rel |