---
license: apache-2.0
tags:
- robotics
- vla
- vision-language-action
- pi-05
- nut_thread
- sim
pipeline_tag: robotics
---
# FIRe-VLA-PI05-NutThread-Sim

<!-- TODO: FIRe project one-line description and paper/code links -->

A **PI05** vision-language-action policy fine-tuned for the **Nut threading** contact-rich
robotic assembly task (**Sim** domain), part of the FIRe model suite.

- **Framework:** PI05
- **Task:** Nut threading (`nut_thread`)
- **Domain:** Sim
- **Checkpoint:** inference-ready (9999 steps)

## Usage

```bash
# Requires openpi: https://github.com/Physical-Intelligence/openpi
huggingface-cli download bhe1004/FIRe-VLA-PI05-NutThread-Sim --local-dir ./FIRe-VLA-PI05-NutThread-Sim
```
```python
# Point the openpi trained-policy loader at the downloaded checkpoint dir.
# The repo holds params/ + assets/ (norm stats); train_state/ was dropped
# since it is only needed to resume training.
from openpi.policies import policy_config
policy = policy_config.create_trained_policy(config, "./FIRe-VLA-PI05-NutThread-Sim")
```

## Related
- Training data: [`bhe1004/FIRe-VLA-PI05-NutThread-Sim`](https://huggingface.co/datasets/bhe1004/FIRe-VLA-PI05-NutThread-Sim)