Projects · 07
SO-101 Studio
By Haider Ali ·
SO-101 Studio, Haider Ali's toolkit for KCL Robotics, calibrates, teleoperates, records, trains and deploys imitation-learning policies for the SO-101 arm.
KCL Robotics' toolkit for the SO-101 robot arm: calibrate, teleoperate, record, train and deploy imitation-learning policies from one CLI or a 3D browser studio.
Sep 2026 · active
A toolkit I built for KCL Robotics to train the SO-101 robot arm by imitation learning: calibrate, teleoperate, record, train and deploy, from one CLI or a 3D browser studio.
Key facts
- Full LeRobot loop
- CLI + 3D browser studio
- MuJoCo digital twin
- 120 commits
The CLI
- Config-driven so101 CLI wrapping Hugging Face LeRobot on native Windows.
- Transparent: prints every LeRobot command before running it.
- Doctor check for CUDA, cameras, ports and calibration.
- Contract tests pass each command through LeRobot's own parser, so upstream renames fail CI, not the robot.
The studio
- 3D viewport: React and Three.js, with forward kinematics from the URDF.
- Safe access: LAN by QR code, a pilot PIN and an e-stop.
- Training: ACT, Diffusion and SmolVLA policies, a bimanual mode and a live MuJoCo digital twin.
Stack
- python
- lerobot
- pytorch
- mujoco
- react
- three.js
- zustand
- playwright
Private repo: the source isn’t public.
#robotics #imitation learning #three.js