Cube2Plate

SO-ARM101 Cube2Plate Policy

This model is a LeRobot policy trained for the SO-ARM101 robotic arm on the Cube2Plate task.

The policy is used to control the SO-ARM101 robotic arm to pick up a cube and place it onto a plate.

Model Details

• Robot: SO-ARM101
• Task: Cube2Plate
• Framework: LeRobot
• Model type: Imitation learning policy
• License: Apache-2.0
• Training dataset: Hiwonder-robot/cube_to_plate

Intended Use

This model is intended for running and evaluating the Cube2Plate task with the SO-ARM101 robotic arm.

It can be used for:

• SO-ARM101 robotic arm control
• Cube-to-plate manipulation task
• LeRobot policy evaluation
• Imitation learning experiments

How to Use

You can run evaluation or inference with LeRobot:

lerobot-record \
  --robot.type=so101_follower \
  --dataset.repo_id=${HF_USER}/eval_so101 \
  --policy.path=${HF_USER}/Cube2Plate \
  --episodes=10

If the following folder already exists locally:

C:/Users/Admin/Desktop/lerobot/${HF_USER}/eval_so101

please delete it before running the command again.

Training Data

This model was trained using demonstration data collected for the Cube2Plate task with the SO-ARM101 robotic arm.

Dataset:

Hiwonder-robot/cube_to_plate

Evaluation

The model can be evaluated by running the trained policy on the SO-ARM101 robotic arm and checking whether the cube is successfully placed onto the plate.

Limitations

• This model is designed only for the Cube2Plate task.
• Performance may be affected by camera position, lighting conditions, object position, and robot calibration.
• The model may not generalize well to different objects, environments, or robot configurations.
• Please run the robot carefully to avoid collision or hardware damage.

More Information

This model was trained and uploaded using the LeRobot framework.