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Set up the hardware
Assemble and wire the SO-101 leader and follower, find their serial ports, and calibrate both arms so they agree on where zero is.
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Record demonstrations
Teleoperate the follower with the leader, add cameras, and record a dataset in the LeRobot format — ready to push to the Hugging Face Hub.
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Train and evaluate policies
Train ACT on your own data, run it on the real arm, and learn to read the result. Then try the same policy in simulation with LIBERO.