Quickstart

1. Install

uv pip install rfx-sdk

pip install rfx-sdk

git clone https://github.com/quantbagel/rfx.git && cd rfx
bash scripts/setup-from-source.sh

Check the environment:

rfx doctor

2. Record a demo

Collection is a first-class primitive. Record episodes into a LeRobot dataset:

rfx record \
  --robot so101 \
  --repo-id my-org/demos \
  --episodes 10 \
  --duration 30

No hardware? Use --mock:

rfx record --robot so101 --repo-id my-org/demos --mock --duration 5

3. Deploy a policy

Deploy from a saved checkpoint, HuggingFace Hub, or a Python file:

rfx deploy runs/my-policy --robot so101

rfx deploy hf://rfx-community/go2-walk-v1 --robot go2

rfx deploy my_policy.py --robot so101

rfx deploy runs/my-policy --robot so101 --mock

rfx deploy loads weights, resolves the robot config, connects hardware, and runs the control loop with rate control, jitter tracking, and clean shutdown on Ctrl+C.

4. Write a policy

A policy is any callable Dict[str, Tensor] -> Tensor. Use @rfx.policy to make it deployable from the CLI:

my_policy.py

import torch
import rfx

@rfx.policy
def hold_position(obs):
    return torch.zeros(1, 6)  # hold still (SO-101 has 6 joints)

rfx deploy my_policy.py --robot so101

Next steps

SO-101 quickstart

End-to-end setup for the 6-DOF arm.

Simulation guide

Run without hardware using Genesis or a mock robot.

Python SDK

Full reference for observe(), act(), deploy(), and artifacts.

Operator checklist

Preflight gates before a production deploy.

Get started

Concepts

Guides

1. Install

2. Record a demo

3. Deploy a policy

4. Write a policy

Next steps

SO-101 quickstart

Simulation guide

Python SDK

Operator checklist

​1. Install

​2. Record a demo

​3. Deploy a policy

​4. Write a policy

​Next steps

SO-101 quickstart

Simulation guide

Python SDK

Operator checklist

1. Install

2. Record a demo

3. Deploy a policy

4. Write a policy

Next steps