Tutorials
Step-by-step guides for building, calibrating, and training with the SO-101 robot arm — from 3D printing through LeRobot dataset recording and imitation learning.
Best First Links
New to the SO-101? Start with these resources. The SO-101 is a LeRobot-native arm, so the HuggingFace LeRobot docs are your primary reference.
Official SO-101 & LeRobot documentation
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1LeRobot Documentation Official HuggingFace LeRobot docs covering SO-101 assembly, calibration, teleoperation, and dataset recording. The authoritative starting point. View LeRobot GitHub →
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2SO-101 Setup Guide (SVRC) SVRC step-by-step guide: 3D printing parts, servo installation, wiring, calibration, and first motion test. Go to setup →
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3LeRobot Quickstart Tutorial SVRC tutorial for getting LeRobot running end-to-end: install, calibrate, record episodes, and train a policy. Read tutorial →
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4SO-101 Quickstart Minimum-viable path from unboxing to first teleoperation. Assumes you have a pre-assembled unit. Start quickstart →
Assembly & Hardware Setup
The SO-101 is a 3D-printed robot arm with Feetech STS3215 servos. Assembly takes approximately 2-3 hours with basic tools.
Full Setup Guide
3D print files, BOM, servo installation, wiring harness, and mechanical assembly. Everything from raw parts to a working arm.
Go to setup → ReferenceSpecifications
Joint ranges, servo torque, reach envelope, payload capacity, and electrical requirements for each axis.
View specs → Quick StartQuickstart Guide
Skip to first motion: install LeRobot, connect USB, run calibration, and execute a basic teleoperation session.
Start now →Print quality matters
Use PLA or PETG at 0.2 mm layer height. Poor dimensional accuracy in 3D-printed parts is the most common cause of servo binding and calibration failures. Check tolerances before assembly.
Calibrate before recording
Always run the LeRobot calibration procedure after assembly and after any servo replacement. Uncalibrated arms produce unusable training data.
LeRobot Integration
The SO-101 is designed for the HuggingFace LeRobot framework. LeRobot handles calibration, teleoperation, dataset recording, and policy training out of the box.
Software Overview
LeRobot installation, Python environment setup, driver configuration, and integration with the Fearless Platform.
View software → TutorialLeRobot Quickstart
End-to-end tutorial: install LeRobot, calibrate, record 50 episodes, train ACT, and evaluate the policy on the real arm.
Read tutorial → TutorialRecord a LeRobot Dataset
Detailed recording workflow: episode structure, camera setup, data format, quality checks, and uploading to HuggingFace Hub.
Read tutorial →Teleoperation & Data Collection
Record manipulation demonstrations using a leader-follower SO-101 pair. LeRobot synchronizes joint data and camera feeds automatically.
Data Collection Guide
Leader-follower setup, camera placement, recording commands, episode management, and dataset export in LeRobot format.
Go to data collection → Research ArticleHow to Collect Demonstration Data
Principles behind high-quality demonstrations: scene setup, operator consistency, failure handling, and dataset versioning.
Read article → SVRC ModelsCompatible AI Models
ACT and Diffusion Policy work out of the box with SO-101 LeRobot datasets. Browse pre-trained checkpoints and fine-tuning guides.
Browse models →All SVRC SO-101 Resources
Every internal page and research article for the SO-101, indexed in one place.
- › Overview — Product page & pricing
- › Quickstart — First motion in minutes
- › Setup — Full assembly guide
- › Software — LeRobot, drivers, SDK
- › Specifications — Mechanical & electrical
- › Data Collection — Recording workflow
- › Safety — Read before powering on
- › Community — Forum & FAQ
- › Tutorial: LeRobot Quickstart
- › Tutorial: Record a LeRobot Dataset
- › Research: Collecting Demonstration Data
- › Store — Purchase & leasing options
- › LeRobot GitHub (external)