Upload converted weights from ffer_pi05_ur5e_lora_pytorch

README.md

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+# 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

config.json

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+{
+  "type": "pi05",
+  "paligemma_variant": "gemma_2b",
+  "action_expert_variant": "gemma_300m",
+  "chunk_size": 10,
+  "input_features": {
+    "observation.images.left": {
+      "shape": [
+        3,
+        224,
+        224
+      ],
+      "type": "VISUAL"
+    },
+    "observation.images.center": {
+      "shape": [
+        3,
+        224,
+        224
+      ],
+      "type": "VISUAL"
+    },
+    "observation.images.right": {
+      "shape": [
+        3,
+        224,
+        224
+      ],
+      "type": "VISUAL"
+    },
+    "observation.state": {
+      "shape": [
+        7
+      ],
+      "type": "STATE"
+    }
+  },
+  "output_features": {
+    "action": {
+      "shape": [
+        7
+      ],
+      "type": "ACTION"
+    }
+  },
+  "norm_stats": {}
+}

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