lukasskellijs/pi05_ab3_peg8mm_hg_dagger_r2

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