Software#

Here we will show how to run XLeRobot under the lerobot framework.

Install LeRobot 🤗 and Move XLeRobot files#

Quick Guide#

Note

If you haven’t played with lerobot SO101 Arm before, it’s recommended to test single arm setup teleop and play with it for a while first.

  1. Choose Control Method: Joint control (example 0) for basic motor testing, end-effector control for teleop (example 1 & 6)

  2. Advanced Features: Try dual-arm control (example 2) or vision-based control (example 3) for more complex tasks

  3. Full System: Use keyboard (example 4), Xbox controller (example 5), or Switch Joycon (example 7) for complete XLeRobot teleop

All example scripts are located in the software/examples/ directory and can be run directly after proper setup and calibration. Some examples needs additional calibration to ensure performance.

Note

For basic version of XLeRobot, you don’t need a RaspberryPi. Just use your laptop and put it in the IKEA cart if you want to use the full system.

SO100/SO101 Arm Examples#

XLeRobot Teleop#

Autonomous LLM Agent#

Note

The VLA tutorials below came from different teams in the community. Thanks a lot for their efforts!

VLA (1) ACT#

VLA (2) SmolVLA and more#

VLA (3) pi0.5#

Reinforcenment Learning (RL)#

Raspberri Pi Setup#