SO-101 (SO-ARM101) · published weights
SO-100/101 language-conditioned manipulation (VLA, zero-shot or fine-tune)
Record
- Robot
- SO-101 (SO-ARM101) therobotstudio/so-101
- Framework
- LeRobot (MolmoAct2) · LeRobot
- Policy license
- not stated by the package · robot software repos: Apache-2.0
- File
- model.safetensors
- Note
- LeRobot port of allenai/MolmoAct2-SO100_101, fine-tuned by Ai2 on an SO-100/101 mixture with absolute joint-pose control. Cameras map to cam0/cam1 via --rename_map. The processor includes the joint sign/offset fix for the pre-0.5 calibration convention. No license field on either model card.
Not in the tab yet
To replay this policy in the browser we need an ONNX export of the named checkpoint, the observation and action contract copied from the authors' own sim2sim or deploy script, and a MuJoCo model of the robot that the contract matches. Then it must walk 60 s in our runtime without a fall. Until then the source link is the way in.