Setting Up a Dinner Table · dual SO-101 · MuJoCo + OpenVINO

Two arms, one table,
local.

Tell it "set the table" — two SO-101 arms open the drawer, grab the cutlery, place plate and cup, and hand off between each other. Runs entirely on an Intel Core Ultra machine, no cloud in the loop.

Clone & run → Source
MuJoCo scene editor Dual SO-101 arms over the dinner-table MuJoCo scene, joint control panel visible on the right click to enlarge
dual SO-101 rig · drawer, cutlery, plate, cup, bottle

3 commands

Run the actual viewer

01

Clone

git clone https://github.com/Akaired/infra-summit-vla.git
cd infra-summit-vla
02

Environment

uv venv --python 3.12
source .venv/bin/activate
uv pip install mujoco mediapy numpy pyyaml pytest
03

Launch

uv run --frozen --extra sim --extra dummy \
  --with fastapi --with "uvicorn[standard]" \
  python apps/web/server.py --config configs/eval.yaml --policy openvino

10 randomized seeds

Seed videos

layout

Module map

/sim

MuJoCo scene, domain randomization

/policy

LeRobot → ONNX → OpenVINO IR

/inference

OpenVINO runtime, device select

/eval

10-seed harness + benchmark

/apps/web

This viewer — local/LAN only

/seeds

Demo clips, 10 randomized seeds