Running AI robotics experiments at home with LeRobot and SO-ARM100

I have summarized my experience with the SO-ARM100 robot from the general overview to the training process and the results I got. Links: Lerobot repo: https://github.com/huggingface/lerobot SO-arm100 repo: https://github.com/TheRobotStudio/SO-... DOT-policy repo: https://github.com/IliaLarchenko/dot_... My Hugging Face page: https://huggingface.co/IliaLarchenko My fork of the LeRobot: https://github.com/IliaLarchenko/lerobot (has branches for PS4 controller and DOT-policy) Follow me on X for more updates: https://x.com/IliaLarchenko 00:00 - Intro 00:30 - Robot Overview & Assembly 02:15 - LeRobot Library 03:39 - How the Robot Works 04:35 - Teleoperation 08:07 - PS4 Controller Teleoperation 11:54 - Robot Testing 17:25 - Custom Robot Configuration 20:18 - Dataset Collection 24:02 - Dataset Tips & Environment Setup 28:06 - Dataset Visualization & Simulated Environments 29:49 - Training Policies 30:39 - My DOT-Policy Explained 33:01 - Training 34:15 - Running on the Real Robot 36:00 - Common Failure Cases 38:12 - Recap #ai #robotics #opensource #deepLearning #3dprinting #lerobot #huggingface #robotarm #roboticsprojects #machinelearning