Update README.md

README.md

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 ---
 license: apache-2.0
+datasets:
+- DexJoCo/DexJoCo-Datasets-LeRobot
+tags:
+- Dexterous
+- Benchmark
+- Toolkit
 ---
+
+# Model Card for DexJoCo Pi-0.5
+
+This repository provides the Pi-0.5 models trained on the DexJoCo datasets.
+
+## Model Summary
+
+- **Base Models:** `pi05_base`, `pi05_base_action_dim_44`
+- **Finetuned Checkpoints:**
+  - `pi05_dexjoco_ckpt` ("rand-obj" tasks)
+  - `pi05_dexjoco_rand_full_ckpt` ("rand-full" tasks)
+  - `pi05_dexjoco_multi_task` ("multi-task" setup, "rand-obj")
+
+## Training Details
+
+All models are finetuned using LoRA on the DexJoCo datasets with LeRobot format:
+- **Single-arm checkpoints:** LoRA finetuned for 30,000 steps.
+- **Bimanual & Multi-task checkpoints:** LoRA finetuned for 60,000 steps.
+
+## Links & Resources
+
+- **Hugging Face Paper:** [https://huggingface.co/papers/2605.16257](https://huggingface.co/papers/2605.16257)
+- **arXiv Paper:** [https://arxiv.org/abs/2605.16257](https://arxiv.org/abs/2605.16257)
+- **Project Page:** [https://dexjoco.github.io](https://dexjoco.github.io)
+- **GitHub Repository:** [https://github.com/brave-eai/dexjoco](https://github.com/brave-eai/dexjoco)
+- **Dataset:** [https://huggingface.co/datasets/DexJoCo/DexJoCo-Datasets-LeRobot](https://huggingface.co/datasets/DexJoCo/DexJoCo-Datasets-LeRobot)
+- **Raw Dataset:** [https://huggingface.co/datasets/DexJoCo/DexJoCo-Datasets-Raw](https://huggingface.co/datasets/DexJoCo/DexJoCo-Datasets-Raw)
+
+
+**BibTeX:**
+
+```bibtex
+@article{wang2026dexjoco,
+  title = {DexJoCo: A Unified Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo},
+  author = {Wang, Hanwen and Zhao, Weizhi and Wang, Xiangyu and Huang, Siyuan and Lin, He and Zheng, Boyuan and Xu, Rongtao and Wang, Gang and Mu, Yao and Wang, He and Fan, Lue and Li, Hongsheng and Zhang, Zhaoxiang and Tan, Tieniu},
+  journal = {arXiv preprint arXiv:2605.16257},
+  year = {2026},
+  url = {https://dexjoco.github.io}
+}
+```
+
+## License
+
+This repository is derived from OpenPI and is distributed under the Apache 2.0 License.
+
+Gemma-based model and checkpoints are subject to the Gemma Terms of Use. See `LICENSE_GEMMA.txt`