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pi05_ab3_peg8mm_hg_dagger_r2
lukasskellijs/pi05_ab3_peg8mm_hg_dagger_r2
pi05_ab3_peg8mm_hg_dagger_r2 is a robotics model from lukasskellijs. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.
Continued SFT from r1 step004000 on BC + r1 + r2 corrections (×6, --drop-idle), 4000 steps.
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.safetensors46.8 GB · 100%
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BF163.6B · 87%
Base models
Model card
From the Hugging Face model README
pi05 AB3 peg-8mm HG-DAgger round 2
Continued SFT from r1 step_004000 on BC + r1 + r2 corrections (×6, --drop-idle), 4000 steps.
Checkpoints
| Path | Steps |
|---|---|
step_001000/ | 1000 |
step_002000/ | 2000 |
step_003000/ | 3000 |
step_004000/ | 4000 (final; used for round-peg eval) |
Root files are the same weights as step_004000/.
Eval (2×16, no takeover)
| Task | Success |
|---|---|
| peg_round_4mm | 1/32 |
| peg_round_8mm | 1/32 |
| peg_round_12mm | 1/32 |
| peg_round_16mm | 3/32 |
W&B: https://wandb.ai/lgwlab/pi05-assembly-sft/runs/xsoeoiz8
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jul 26, 2026
- Updated
- Jul 26, 2026