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What this is
An SO-101 arm plays X against me: ten moves on the real arm, all ten in the right cell. A pilot, and a path for starting from zero.
The third move of a game on 2026-10-10, seen by the camera above the table
(rotated so that the arm is at the bottom). I have O in top left and
bottom left; Claude picked middle left, and the arm is putting the X
there.
I taught an SO-101 robot arm to play tic-tac-toe ("XOX" in Turkish). It plays X, I play O. Claude looks at the board through a camera and picks a cell. The moving is done by SmolVLA, a small neural network that I fine-tuned on 45 moves I showed the arm by hand.
Where it stands, honestly: ten moves on the real arm so far, all ten in the right cell, six of the nine cells tried. That is a pilot, not a success rate.
I wrote these cards for someone who starts from zero. They follow the order I did things in: what you need, the path step by step, and what I would tell a friend before they begin. I did the recording and the playing. The code and the log analysis were written together with Claude Code, an AI coding assistant.
- Code: github.com/fport/so101-xox
- Data: the 45 demonstrations on Hugging Face
- Model: the fine-tuned SmolVLA
- The long version, with every number: the write-up