---
license: apache-2.0
library_name: lerobot
pipeline_tag: robotics
datasets:
- Hiwonder-robot/cube_to_plate
tags:
- lerobot
- so-arm101
- robotics
- imitation-learning
- manipulation
- 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](https://huggingface.co/datasets/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:

```bash
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:

```bash
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](https://huggingface.co/datasets/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.