---
library_name: lerobot
tags:
  - robotics
  - pi05
  - assembly
  - hg-dagger
license: apache-2.0
base_model: lukasskellijs/pi05_assembly_bench_3_full_vlm_12k
datasets:
  - lukasskellijs/assembly_bench_3_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