SO-100×pi0 base

Evidence

Success rate

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Episodes tested

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Updated

2026-04-20

https://github.com/huggingface/lerobot/discussions

Notes

Canonical exemplar. SO-100 is the $200 desktop arm from TheRobotStudio that LeRobot uses as its hobbyist on-ramp. pi0 was not trained on SO-100 data, but multiple LeRobot Discord threads have shown it produces sensible joint trajectories after a few-episode fine-tune.

Gaps noted

• · No quantitative success-rate numbers yet; community reports are anecdotal pick / place demos.
• · SO-100's 5-DoF action space is a proper subset of pi0's expected 7-DoF; users typically zero-pad the missing joints, which the policy was not trained on.

Robot · SO-100

The Robot Studio SO-100, low-cost 6-DoF tabletop arm. De facto platform for the LeRobot imitation-learning community.

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