zuoxingdong/lekiwi-blog-assets
Mobile Manipulation with LeKiwi and PincOpen — blog media Images and videos for the blog post Mobile Manipulation with LeKiwi and PincOpen: a hands-on journal of assembling a LeKiwi mobile manipulator with an SO-101 arm and the PincOpen parallel gripper, upgrading the servos from STS3215 to STS3250, porting everything to LeRobot 0.5.2, and fine-tuning SmolVLA to pick up a chocolate bar from a basket. 📖 Read the full write-up:… See the full description on the dataset page: https://huggingface.co/datasets/zuoxingdong/lekiwi-blog-assets.
Mobile Manipulation with LeKiwi and PincOpen — blog media
Images and videos for the blog post [Mobile Manipulation with LeKiwi and PincOpen](https://huggingface.co/blog/zuoxingdong/mobile-manipulation-lekiwi-pincopen): a hands-on journal of assembling a LeKiwi mobile manipulator with an SO-101 arm and the PincOpen parallel gripper, upgrading the servos from STS3215 to STS3250, porting everything to LeRobot 0.5.2, and fine-tuning SmolVLA to pick up a chocolate bar from a basket.
📖 Read the full write-up: https://huggingface.co/blog/zuoxingdong/mobile-manipulation-lekiwi-pincopen
💻 Code (LeRobot 0.5.2 fork with the LeKiwi port, lifecycle configs, `lekiwi.sh` CLI, support-block STL): https://github.com/zuoxingdong/lerobot-lekiwi
What's in here
- Eval videos: SmolVLA policy rollouts on the real robot — data scaling (130 episodes), sync vs RTC inference, frozen vs unfrozen VLM
- Build photos: LeKiwi + PincOpen assembly, the soldering-iron trick for M3 brass inserts, the STS3215 → STS3250 servo upgrade, on-wrist camera mount
- Troubleshooting media: the forward-stretch servo-death failure clips and the fixes (3D-printed support block, Feetech passive horn, P-gain tuning)
- Result charts: data-scaling validation curves, torchcodec vs pyav training throughput
All media is referenced by the blog post; this repo exists to host it.