desktop arm + gripper
Train SO-101 arm (LeRobot) with reinforcement learning
The low-cost desktop arm from Hugging Face LeRobot: five joints and a gripper. Train reach, push and press policies in simulation and export ONNX for the real arm.
- Actuators
- 6
- First skill
- ~300K steps
- Size
- ≈40 cm reach
- License
- Apache-2.0
Tricks people teach SO-101 arm (LeRobot)
How it works
- Describe the trick in a sentence and pick SO-101 arm (LeRobot).
- alia, kualia's assistant, writes the Gymnasium task — reward, success, failure and world objects — and runs 13 automatic checks.
- Train with PPO on kualia's servers and watch every checkpoint replayed in 3D in your browser.
- Export a deterministic ONNX policy and run it on the robot with onnxruntime.
From your coding agent
Working in Claude Code, Cursor or Codex? Connect kualia as an MCP server with a personal API key (Settings → API keys), then ask: “Train my SO-101 arm (LeRobot) to press a button on the table with kualia.”
claude mcp add --transport http kualia https://kualia.ai/api/mcp \ --header "Authorization: Bearer $KUALIA_API_KEY"Coding-agent guide →
Questions
Can I train SO-101 arm (LeRobot) without writing code?
Yes. Pick SO-101 arm (LeRobot) in kualia, describe the trick in a sentence, and kualia's assistant writes the Gymnasium task (reward, success, failure and any world objects), runs 13 automatic checks and trains a PPO policy in MuJoCo.
How many training steps does SO-101 arm (LeRobot) need?
Roughly ~300K steps for a first real skill with PPO. Start with a 10,000-step first try to check the task before spending more.
Can I run the trained policy on the real SO-101 arm (LeRobot)?
kualia exports a deterministic ONNX policy with observation normalisation baked in, plus metadata describing observations and action scaling. You run it with onnxruntime on the robot's computer. Test carefully: simulation and hardware differ.
Can my coding agent use kualia for SO-101 arm (LeRobot)?
Yes. kualia is a remote MCP server at https://kualia.ai/api/mcp. Add it to Claude Code, Cursor or Codex with a personal API key and ask the agent to train SO-101 arm (LeRobot).
More tiny & maker robots
SO-101 arm (LeRobot) model by TheRobotStudio · LeRobot, Apache-2.0; used unchanged except for a floor, a standing pose and actuator centring where noted. kualia is not affiliated with TheRobotStudio · LeRobot.