# BARX Joint Reps XP-3K PnP Counter to Sink / PnP Sink to Counter Pretrain

- Task: PnP Counter to Sink / PnP Sink to Counter
- Robots in dataset: Panda, Panda-OG, Jaco
- Representations: Bounding Box, Language Motions, EE Trace, and action
- Number of demos: 6000
- Finetuned from: https://huggingface.co/ajaysri/prism-qwen25-extra-dinosiglip-224px-0_5b-stage-finetune-x7 using full-parameter FSDP finetuning