Federico Pascual
Field notes from my journey into robotics: the hardware, the code, and the AI that makes machines move, with detours into robotics startups and how you take a robot to market.
A live physics simulation of the SO-101 robot arm replaying recorded pick-and-place demonstrations. Press the Take Control button to drive the arm yourself with the keyboard or a gamepad.
MY SO-101 ARM, SIMULATED. TAKE CONTROL AND DROP THE CUBE IN THE BIN.
I'm Federico. I'm learning robotics in public, starting with a robot arm at my desk, and writing down what works, what breaks, and what it costs.
79 teleoperated episodes, two overnight training runs on an M3 MacBook, one glorious first success, and a hard lesson about task definition. The full story of teaching my SO-101 its first task, with real commands, real numbers, real failures.
6 MIN READ
Why I picked Hugging Face's open-source arm, the vendor hunt, the parts that spent weeks crossing an ocean (and the camera that never shipped), the assembly, and the first time the follower arm mirrored my hand.
4 MIN READ
I studied business administration, and there's a robot arm on my desk that picks up socks on its own. How I got here (electronics, Arduino, a "self-driving" toy car, an SO-101) and what I'm going to write about.
3 MIN READ
An open-source browser tool for the SO-101. Replay recorded episodes in physics-simulated 3D, teleoperate a virtual arm, and plug it all into the LeRobot ecosystem. Early days; more soon.
A learning hub and evaluation cockpit for the imitation-learning policies I train on the SO-101. One place to log runs, compare policies across tasks, and keep the success rates honest.