# 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