RIO: flexible real-time Robot I/O for cross-embodiment robot learning.
This project provides a Python-based interface to use different robot arms (Franka, Kinova, Universal Robots, UFACTORY, SO100, ...), grippers, cameras, and teleop interfaces, with built-in support for data collection, teleoperation, and Vision-Language-Action (VLA) policy deployment.
Tested on Ubuntu 22.04 LTS with an optional real-time kernel patch. See docs/ubuntu.md for setup instructions.
git clone [email protected]:robot-i-o/rio.git
# install open-pi
cd rio
mkdir third_party && cd third_party
git clone [email protected]:Physical-Intelligence/openpi.git
# install uv
curl -LsSf https://astral.sh/uv/install.sh | sh
# create venv and install dependencies
uv venv --python 3.10
source .venv/bin/activate
uv sync --all-extrasBuild and browse the docs locally at http://localhost:8000:
uv sync --group docs
uv run mkdocs serve