---
license: apache-2.0
tags: [lerobot, so101, mujoco, ppo, distillation, 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](https://github.com/suuu-u/Learn_SO101).

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

```bash
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`.

```bash
# 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
```