---
library_name: lerobot
tags:
  - robotics
  - pi0.5
  - assembly
  - droid
license: apache-2.0
base_model: DAVIAN-Robotics/pi05_droid_jointpos
datasets:
  - lukasskellijs/assembly_bench_3
---

# pi0.5 full SFT on assembly_bench_3 (12k steps)

Full fine-tune (incl. VLM) of [`DAVIAN-Robotics/pi05_droid_jointpos`](https://huggingface.co/DAVIAN-Robotics/pi05_droid_jointpos)
on [`lukasskellijs/assembly_bench_3`](https://huggingface.co/datasets/lukasskellijs/assembly_bench_3).

- **Steps:** 12000 (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_3_full_vlm_12k")`
- **Train run:** [wandb](https://wandb.ai/lgwlab/pi05-assembly-sft/runs/9fmpagu9)

Intermediate `step_00x000` snapshots are not included (ask if you need them).