So, quick answer is that you can initialize velocities from a say xyz-formatted file by having something like
in the <initialize> block. Note that you should use atomic units, or specify one of the units that are understood by i-PI.
However, unless there is something special in your initialization or you want to reproduce results from a different code, there is no reason not to just start from thermal velocities.
If you have sampled properly the NVT ensemble, velocities are Gaussians distributed as exp(-p^2/2m kbT) so you can (easily) generate new ones that are perfectly compatible
with the ensemble.
Best
Michele