so101-pen-in-box-v2-policy

Task: Pick up the pen and place it in the box
Embodiment: GR1 (single_arm + gripper)
Modalities: front camera, wrist camera, robot states/actions (5 DoF arm + gripper)

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📦 Checkpoints

Step	Subfolder	Notes
3000	checkpoints/step-3000	early
5000	checkpoints/step-5000	mid
7000	checkpoints/step-7000	mid
10000	checkpoints/step-10000	latest (recommended)

🗂️ Data

• Dataset: c299m/so101-pen-in-box-v2
• Modality config: so100_dualcam (front + wrist)
• Annotation: single task description: “Pick up the pen and place it in the box.”

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🚀 Quickstart

from transformers import AutoModel  # replace with concrete class if needed

repo_id = "c299m/so101-pen-in-box-v2-policy"
sub = "checkpoints/step-10000"  # or step-3000/5000/7000

model = AutoModel.from_pretrained(repo_id, subfolder=sub)
model.eval()