suuu3/so101_mujoco_sim2real

SO101 MuJoCo sim2real: PPO teacher -> vision student

Checkpoints from lerobot.rl.so101_mujoco. Code, configs and full instructions: github.com/suuu-u/Learn_SO101.

Download them to outputs/so101_mujoco/ of the lerobot checkout, where the configs expect them:

hf download suuu3/so101_mujoco_sim2real --local-dir outputs/so101_mujoco

File	Kind	Description
teacher_realscene.pt	PPO teacher (privileged state: cube pose, contacts, ...)	Trained on the real-scene-matched MuJoCo scene (ppo_realscene/config.yaml), best checkpoint = iteration 7600, rolling success rate ~0.54
student_realcam.pt	Vision student (front + wrist cameras + 18-dim joint state), used for deployment	DAgger distillation from teacher_realscene.pt (distill_realcam/config.yaml), best checkpoint = iteration 200, rolling success rate ~0.48

Success rates are rolling training statistics under domain randomization, not a separate evaluation. The released weights were trained in stages; training from scratch with these configs may give slightly different results.

ppo_realscene/ and distill_realcam/ contain the training config.yaml and metrics.jsonl.

# Evaluate in simulation / deploy (from the lerobot checkout)
python -m lerobot.rl.so101_mujoco.eval --checkpoint outputs/so101_mujoco/student_realcam.pt
python -m lerobot.rl.so101_mujoco.deploy --headless true --n_episodes 50