SO-101 workshop
Run sheet
Show
Workshop sequence

The whole workshop is one loop.

Show the arm the task, record it, train a model, then let the arm try alone.

Setup and the four stages
Once, before the loop
SetupPrepare the bench Computers, software, arms.
Repeats
Stage 1Teleoperate Move the leader; the follower copies.
Stage 2Record Repeat the task while it records.
Stage 3Train The computer learns from the recordings.
Stage 4Run and evaluate The arm tries alone; you score it.

↳ Stage 4 returns to stage 2.

The two arms

Follower: gripper, does the task. Leader: handle, you move it.

Follower performs the task Leader moved by hand 1 2 3 4 5 6 jaws — this arm holds the object handle — no jaws on this arm

The six joints, numbered on the follower above.

1shoulder_pan — rotates the arm left and right
2shoulder_lift — raises and lowers the upper arm
3elbow_flex — bends the elbow
4wrist_flex — tilts the wrist
5wrist_roll — rotates the wrist
6gripper — opens and closes the jaws
Choose your computers

1Which computer is the bench?

The computer the arms and camera plug into.

2Where does the policy train?

Pick where training runs. You confirm it again after recording.

How this sheet works

Every step is one screen: what it is for, what to do in order, the command to run, and the line that tells you it worked.

Every step looks like this example

the step

Delete weak episodes

what the step is for

Makes a cleaned copy of your recording without the episodes marked RE-RECORD.

a note, when something is worth knowing before you start

This takes a while, often several minutes. LeRobot rebuilds the whole video file to remove an episode.

what to do, in the order you do it
  1. Type the episode numbers marked RE-RECORD in Find weak episodes.
the command, to copy and paste into the Terminal
your Mac · Terminal
source "$HOME/miniforge3/etc/profile.d/conda.sh"
conda activate lerobot
lerobot-edit-dataset --operation.type delete_episodes …
the line that means it worked
Look forDISCARD COMPLETE
if it didn’t work, use troubleshooting for this step
Didn’t work? → Troubleshoot this step

Some steps also show these

Caution

!Arm moves. Clear the area; keep a hand on the power switch. Never grab a moving arm.

the command talks to you, so Terminal and the voice guide you through it

No need to memorize these steps. Terminal walks you through each one; they are here so you know what will happen when you run the command.

Some slots are prefilled, some you fill in yourself

what you type carries into every later command and step that needs it
until it is filled in, the command shows a blank and the button says Fill in first
your Mac · Terminal
cap = cv2.VideoCapture(________)
a prefilled slot, already set for you
prefilled

Archive and Appendix

The Archive is where your recorded files and the rest of the day’s work are saved.

The Appendix is where the troubleshooting steps are set out.

Bench details

The details for this workshop.

Archive

Everything the day produces. Keep your results.

Appendix

Find the message you see. Do what it says.