Can 6 months old toy poodle still be trained a little more?

[Pita]

My toy poodle 6 months old now, she still cry, and barking loud when I open the door. She doesn't listen to me very much when I ask her sit,she come to my finger, and licking at it. Can 6 months old toy poodle still able to change from bad to good dog? My dog didnt seem good to me. I want her to be a good dog. I want her to listen to me when I ask her to sit, come.
I have accidently let her full run the home when she was 2.5months old, now I think it's hard to get her trained well.

[Psistidan]

You can train a dog at any age. Contact a trainer. They will help.