SO101-Nexus
Full-stack robot learning for the SO-101 arm: teleoperation, imitation learning, and RL in MuJoCo.
SO101-Nexus takes an SO-101 robot from demonstrations to a trained policy in one installable library. It connects physical leader-arm teleoperation, LeRobot-compatible dataset recording, Gymnasium manipulation environments, and training baselines, all on MuJoCo.
The pipeline is deliberately boring: record demonstrations, clone them with behavior cloning, then reinforce with RL.
Install
Get the library and the extras you need.
Run an environment
Your first Gymnasium SO-101 task in ten lines.
Record to policy
The full record, clone, reinforce walkthrough.
Demo
Recorded MuJoCo teleoperation rollouts are published as LeRobot datasets:
| Task | Dataset | Episode viewer |
|---|---|---|
| PickLift | johnsutor/MuJoCoPickLift-v1 | episode 0 |
| PickAndPlace | johnsutor/MuJoCoPickAndPlace-v1 | episode 0 |
What you get
- Teleoperation. Drive a simulated follower with a physical SO-100 or SO-101 leader arm and save LeRobot v3 datasets, cameras included.
- Six manipulation tasks. PickLift, PickAndPlace, StackCube, Touch, LookAt, and Move, all on the standard Gymnasium API.
- Imitation learning and RL. Behavior cloning from your demos, then PPO fine-tuning that keeps anchoring to them.
- Configurable scenes. Swap objects, add distractors, randomize colors and spawn regions, tune rewards, and choose observation components.
- LeRobot-native. Datasets, processors, and hardware drivers come from LeRobot rather than a parallel implementation.
- GPU-parallel Warp backend. The same six tasks as batched vector environments for large-scale RL (optional, experimental, NVIDIA only).