[davidguetta]

That's not the reason, Pi0 was basically predicting at 10hz and predicting a temporal chunk up to 50 points so it could go up to 500Hz.

It's slow because the original telop is slow, and the learned controllers through imitation learning is always a bit slower.

Source : i work on this (not at PI)

[cloudbonsai]

Another practical reason is that it's dangerous.

Pi0 uses ARX robot arm which weights 3-4kg per arm. It can easily break things or harm people if you allow it to move fast.

[davidguetta]

Not really if you clamp the torque aggressively.

But yeah in general the physical world is more dangerous than we tend to think