SO-ARM101 has a leader-arm, which is the arm with same exact dimensions and same servos - but used to read/record the trajectory. You move it with your own hand and teleoperate the follower-arm in real-time. Follower-arm is visible in the demo videos.
If you fully control the environment: exact positions of arm-base and all objects which it interacts with - you can just replay the trajectory on the follower-arm. No ML necessary.
You can use LLM to decide which trajectories to replay and in which order based on long-horizon instruction.
If you fully control the environment: exact positions of arm-base and all objects which it interacts with - you can just replay the trajectory on the follower-arm. No ML necessary.
You can use LLM to decide which trajectories to replay and in which order based on long-horizon instruction.