Project detail

SO101 Arm · Visual Language Action Deployment

We are training the SO101 arm to autonomously play tic-tac-toe using GR00T 1.6 + a local VLM on Jetson Thor.

Goal

Demonstrate fully autonomous tic-tac-toe on SO101.

Hardware

SO101 6-DoF arm and Jetson Thor

Focus

VLA inference, control reliability, and onboard training experiments.

SO101 Arm Repo GR00T Reference

Mission

Make SO101 play tic-tac-toe autonomously.

GR00T 1.6 and a lightweight local VLM are our current stack for perception, move selection, and execution. Tic-tac-toe is the primary benchmark before scaling to broader tasks.

  • ✔ SO101 follower/leader teleoperation
  • ✔ Teleop-to-dataset pipeline
  • … GR00T 1.6 finetuning for tic-tac-toe
  • … Local VLM integration for task determination
  • … Release reproducible deployment guide for campus outreach

Artifacts

References and components

External references and components.

SO101 arm repository

SO101 Arm Repository

CAD, URDF, firmware notes, and deployment scripts for the SO101 platform.

 NVIDIA GR00T VLA reference

GR00T VLA

NVIDIA's foundation model stack adapted for Jetson Thor demos.