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Tested on Duo and Duo 256M, but not Duo S, even though that build is included.
Install Instructions
Download the Linux image for your board, from the official repo.
Using balenaEtcher or similar, flash the image to a micro SD card.
Insert the SD card into your Duo and connect it to your computer.
Download and unzip the mruby binaries (below) for your board
The Milk-V Duo should have created a network interface on your computer, so you can SSH/SCP into it. The default username is root and password is milkv.