| # Pi0.5 UR5e LoRA (F-Fer) — Converted to PyTorch | |
| Converted from [F-Fer/pi05_ur5e_lora_0](https://huggingface.co/F-Fer/pi05_ur5e_lora_0) (JAX/Orbax, step 5000) to PyTorch safetensors. | |
| - **Action dim**: 7 (6 joints + gripper), joint velocity deltas | |
| - **Cameras**: 0 (state-only — no vision) | |
| - **State dim**: 7 | |
| - **Dtype**: bfloat16 | |
| - **Warning**: Trained without camera images | |