so-101

Isaac Lab external project for SO-ARM100/101 arm robot.

Squint: Fast Visual Reinforcement Learning for Sim-to-Real Robotics [PyTorch, SO-101 Robot Arm, ManiSkill3, Sim-to-Real]

Full-stack robot learning for the SO-101 arm: teleoperation, imitation learning, and RL in MuJoCo.

MakerMods Lab: A web UI interface for policy development

Lododo Arm - An intelligent robotic arm system based on ROS2 Humble, implementing a complete ROS2 control system for the SO-101 arm (LeRobot SO-101) and the follower arm from the LeKiwi project (LeRobot LeKiwi). With an ultra-low hardware cost of approximately $110 per arm.

Vision-language-action stack for contact-rich robot manipulation on sub-$300 hardware. SO-101 + LeRobot; ACT 18/20 and SmolVLA 16/20, both generalizing to a held-out workspace cell.

Linux C++ SDK for LeRobot SO-101 and robots using Feetech's STS3215.

Open-source lab automation: SO-101 teleoperation dataset, six trained policies, and a custom gripper for tray pick-and-place. A KiteML × Cornucopia Bio collaboration.

Peg-in-Keyhole insertion using ACT on SO-101 for RoboHack2026

pi0.5 vision-language-action model fully fine-tuned on unified public SO-101 / SO-100 data

Open hardware and software for a bimanual mobile manipulator: ROS 2 base, two SO-101 arms, browser HMI with WebXR teleoperation.

Voice-controlled SO-101 robotic arm, running fully on-device on an Arduino Uno Q. Arduino Physical AI Challenge India 2026.

Sim-to-Real bridge for the SO-101 Robotic Arm using NVIDIA Isaac Sim on NixOS. Features reproducible Docker environments, hardware teleoperation, and data collection.

Setup script + Claude skill for the XLeRobot platform — born at the MakerMods hackathon

SO-101 parallel gripper redesign: 65 mm jaws, stock servo, Raspberry Pi Camera Module 3 in palm

A Dora-first mobile manipulator with DimOS orchestration, an AR UI webapp, depth perception, object recognition, and mounted SO-101 arm with wrist Cam mounted laser pointer. The household build is the development twin for an agricultural platform for weeding organic farms.

Reproducing Action Chunking Transformer (ACT) on a low-cost SO-101 arm.

LeRobot for Chess

End-to-end install and calibration notes for the Hugging Face LeRobot stack with the SO-101 arm on Windows 11 + WSL2. Documenting real errors and fixes from setup through working teleop

Export a LeRobot ACT policy to ONNX and run it on an SO-10x arm — Python and standalone C++ rollouts, no PyTorch at inference.