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SO-101 Multi-View Imitation-Learning Framework

SO-101 Multi-View Benchmark

Getting Started

Overview
Requirements
Installation
First steps
Running the pipeline end to end
Command overview

Pipeline

Stage 1 — Recording
Stage 2 — Assembly
Stage 3 — Training
Stage 4 — Evaluation
Stage 5 — Reporting

Experiments

Which camera is the policy actually using?
What happens when the external camera moves?
Depth instead of colour, and other things this cannot do yet

Concepts

Architecture
Coordinate frames
Camera configurations
Evaluation variants
Data layout

Reference

Troubleshooting
API reference

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By Ilja Schirschow

© Copyright 2026, Ilja Schirschow.