Degrees of FreedomA blog by Federico Pascual

RoboPlay

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.

STATUSIN PROGRESS
STARTED
STACKTypeScript · three.js · MuJoCo WASM · ONNX Runtime Web
CONTENTS
  1. 01What it is
  2. 02Status

What it is

I'm building an open-source tool that puts an SO-101 in your browser: load an episode recorded with LeRobot and watch it replay in physics-simulated 3D, teleoperate the virtual arm yourself, and, down the road, record new episodes and run trained policies, no hardware required.

Status

I'm actively working on it, but it's early. The design is still settling and the first pieces are on the bench. There's nothing to run yet; this page is a marker for the project, not the project. I'll share more here, and open up the repo, once it's in a shape worth showing.

Build log

AI

Training ACT to put a sock in a cardboard box

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

Hardware

Assembling the SO-101

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

Hardware

Why this blog

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