---
title: No-Hardware Quickstart
description: Complete the record -> clone -> reinforce pipeline using published demonstration datasets, no leader arm required.
---

You do not need a physical SO-100 or SO-101 leader arm to try the full pipeline. SO101-Nexus
publishes LeRobot demonstration datasets, so you can go straight from **clone** to
**reinforce** and see a trained policy without ever touching hardware.

| Task | Published dataset |
| --- | --- |
| PickLift | [`johnsutor/MuJoCoPickLift`](https://huggingface.co/datasets/johnsutor/MuJoCoPickLift) |
| PickAndPlace | [`johnsutor/MuJoCoPickAndPlace`](https://huggingface.co/datasets/johnsutor/MuJoCoPickAndPlace) |

The default `examples/bc_ppo_warp.py` already uses `johnsutor/MuJoCoPickLift`, so a single
command runs both the clone and the reinforce stages (BC-pretrain, then PPO fine-tuning with
a persistent BC anchor):

```bash
uv run --extra warp --extra train python examples/bc_ppo_warp.py
```

That is the entire `WarpPickLift-v1` pipeline: it downloads the demo dataset, BC-pretrains
the actor, fine-tunes with PPO, and writes `runs/WarpPickLift-v1__*/best_agent.pt`.

Evaluate the result deterministically:

```bash
uv run --extra warp python examples/eval_warp.py \
    --env-id WarpPickLift-v1 \
    --checkpoint "runs/WarpPickLift-v1__*/best_agent.pt"
```

<Callout type="info">
Prefer a browser? The
[BC + PPO Colab](https://colab.research.google.com/github/johnsutor/so101-nexus/blob/main/examples/bc_ppo_warp_colab.ipynb)
runs this exact pipeline end to end with embedded TensorBoard and a rollout video. Just pick
a GPU runtime and run all cells.
</Callout>

## Add your own demonstrations later

When you have a leader arm, the **record** stage slots in front of this: teleoperate with
[`so101-nexus teleop`](/docs/teleoperation/overview), then point the same command at your
dataset with `--demo-repo your-user/YourDataset`. Everything downstream is unchanged. See the
full [Record -> Clone -> Reinforce](/docs/workflow/overview) walkthrough and the
[Behavior Cloning](/docs/workflow/behavior-cloning) details.
