| library_name: lerobot | |
| tags: | |
| - robotics | |
| - pi0.5 | |
| - assembly | |
| - droid | |
| license: apache-2.0 | |
| base_model: DAVIAN-Robotics/pi05_droid_jointpos | |
| datasets: | |
| - lukasskellijs/assembly_bench_2 | |
| # pi0.5 full SFT on assembly_bench_2 (6k steps) | |
| Full fine-tune (incl. VLM) of [`DAVIAN-Robotics/pi05_droid_jointpos`](https://huggingface.co/DAVIAN-Robotics/pi05_droid_jointpos) | |
| on [`lukasskellijs/assembly_bench_2`](https://huggingface.co/datasets/lukasskellijs/assembly_bench_2). | |
| - **Steps:** 6000 (checkpoints every 1k; this repo is the final step) | |
| - **Action space:** DROID absolute joint-position (7 arm + gripper) | |
| - **Load:** `PI05Policy.from_pretrained("lukasskellijs/pi05_assembly_bench_2_full_vlm_6k")` | |
| Intermediate `step_00x000` snapshots are not included (ask if you need them). | |