@@ -1,255 +1,12 @@
-<p align="center">
-  <a href="README_zh.md">简体中文</a> | <strong>English</strong>
-</p>
+**English** | [简体中文](README_zh.md)
 
 # LeRobot SO101
 
-This directory provides a real-robot synchronous control example for the
-LeRobot SO101 platform.
+Real-robot synchronous control for the LeRobot SO101 platform.
 
-In addition to the LeRobot SO101 follower arm, you need a camera. The default
-configuration uses an **Intel RealSense D435** (`CAMERA_TYPE=realsense`). On
-macOS you can alternatively use an iPhone as a wireless camera
-(`CAMERA_TYPE=iphone`, same Apple ID, confirm the OpenCV index).
-
-## Usage
-
-### step0: Environment
-
-The conda environment name is `lerobot-demo`.
-
-#### Clone and initialize submodules
-
-```bash
-git clone https://github.com/Robot-cpp/robot.cpp
-cd robot.cpp
-git submodule update --init --recursive
-```
-
-#### Create the Python environment
-
-From the **repository root**.
-
-**Option A: one-shot create**
-
-```bash
-conda env create -f eval/lerobot_so101/environment.yaml
-conda activate lerobot-demo
-```
-
-`environment.yaml` installs:
-
-- local `third_party/lerobot[feetech,intelrealsense]` (SO101 serial ports, follower control, RealSense)
-- local `eval/lerobot_so101/lerobot_camera_opencv_crop` (`opencv_crop` / `realsense_crop` camera plugin)
-
-**Option B: manual step-by-step install**
-
-Use when `conda env create` hangs, pip fails, or you want to see install progress.
-
-```bash
-conda create -n lerobot-demo python=3.12 pip -y
-conda activate lerobot-demo
-
-pip install -e "third_party/lerobot[feetech,intelrealsense]"
-pip install -e eval/lerobot_so101/lerobot_camera_opencv_crop
-```
-
-On **macOS**, install the RealSense Python package separately (`intelrealsense`
-from `environment.yaml` is unreliable on macOS):
-
-```bash
-pip install -r eval/lerobot_so101/requirements-macos-realsense.txt
-bash eval/lerobot_so101/script/shell/fix_macos_pyrealsense_lib.sh
-```
-
-Verify:
-
-```bash
-python -c "import lerobot; from lerobot_camera_opencv_crop import RealSenseCameraCrop; print('ok')"
-# macOS also:
-python -c "import pyrealsense2 as rs; print('pyrealsense2 ok')"
-```
-
-Notes:
-
-- Initialize the `third_party/lerobot` submodule first.
-- Run the commands above from the repository root; pip `-e` paths are relative
-  to the root.
-
-### step1: Configure SO101
-
-All real-robot scripts load environment defaults from:
-
-| Platform | Config file |
+| Document | Description |
 | --- | --- |
-| Linux / macOS | `eval/lerobot_so101/script/shell/so101_env.sh` |
-| Windows | `eval\lerobot_so101\script\bat\so101_env.bat` |
-
-Edit serial ports, camera settings, and inference parameters for your machine:
-
-| Variable | Description |
-| --- | --- |
-| `ROBOT_PORT` | SO101 follower serial port |
-| `TELEOP_PORT` | SO101 leader serial port; used for teleop, dataset recording, and leader calibration |
-| `CAMERA_TYPE` | `realsense` (default) or `iphone` |
-| `REALSENSE_SERIAL` | RealSense serial number, **required** when `CAMERA_TYPE=realsense` |
-| `CAMERA_KEY` | Camera field name in LeRobot observations; default `camera1` |
-| `MODEL_IMAGE_NAME` | Image key sent to model-server; must match GGUF checkpoint metadata (default `observation.images.camera1`) |
-| `CAMERA_INDEX` | OpenCV camera index or device path (only for `CAMERA_TYPE=iphone`) |
-| `CAMERA_WIDTH` / `CAMERA_HEIGHT` | Raw camera capture resolution |
-| `CAMERA_RESIZE_WIDTH` / `CAMERA_RESIZE_HEIGHT` | Resize size before model input; default 224×224 |
-| `ROBOT_PLATFORM` | Platform selector; default `lerobot_so101` |
-| `SERVER` | robot.cpp model-server address; default `127.0.0.1:5555` |
-| `TASK` | Natural-language task prompt sent to the model |
-| `FPS` | Synchronous control loop rate |
-
-Find local serial ports:
-
-```bash
-lerobot-find-port
-```
-
-Find the RealSense serial number:
-
-```bash
-python -m lerobot.scripts.lerobot_find_cameras realsense
-# macOS fallback: sudo rs-enumerate-devices -s
-```
-
-To override settings temporarily without editing the file, export them in the
-current shell:
-
-```bash
-export ROBOT_PORT=/dev/tty.usbmodemXXXX
-export TELEOP_PORT=/dev/tty.usbmodemYYYY
-export CAMERA_TYPE=realsense
-export REALSENSE_SERIAL=141722072266
-unset ROBOT_CAMERAS   # clear cached camera JSON after changing camera settings
-```
-
-Notes:
-
-- `CAMERA_KEY` is the key in local LeRobot observations.
-- `MODEL_IMAGE_NAME` is the image name sent to model-server and must match the
-  image key in the GGUF checkpoint (e.g. `observation.images.front` for some models).
-- The current SO101 client uses a single camera by default. For dual cameras,
-  extend both the platform camera config and `RobotPolicy.build_observation`.
-
-If the follower or leader has not been calibrated yet:
-
-```bash
-cd eval/lerobot_so101
-./script/shell/calibrate_follower.sh
-./script/shell/calibrate_leader.sh
-```
-
-After calibration, teleoperation is a good sanity check:
-
-```bash
-cd eval/lerobot_so101
-./script/shell/teleoperate.sh
-```
-
-### step2: Start model-server
-
-The SO101 client does not load the model directly; it connects to a running
-robot.cpp server. Start the server from the repository root, for example:
-
-```bash
-bash robot_server/shell/launch_robot_server_mac_cpu.sh
-```
-
-For Windows or CUDA, use the matching script under `robot_server/shell/`.
-
-### step3: Run the sync loop
-
-After model-server is up, run in another terminal:
-
-```bash
-bash eval/lerobot_so101/script/shell/run_robot_client.sh
-```
-
-Windows:
-
-```bat
-eval\lerobot_so101\script\bat\run_robot_client.bat
-```
-
-This script sources `so101_env` and runs `run_sync.py`.
-
-Runtime keys:
-
-- `R`: clear the action queue and move the arm back to the home pose recorded at startup
-- `Q`: exit the sync control loop
-
-### Camera test
-
-For camera connectivity, RealSense drivers, and serial-number setup, see
-[camera_setup.md](camera_setup.md). Minimal smoke test:
-
-**Linux / macOS** (macOS RealSense must run in a **root shell** via `sudo -s`,
-not `sudo bash`):
-
-```bash
-cd eval/lerobot_so101
-unset ROBOT_CAMERAS
-export CAMERA_TYPE=realsense
-export REALSENSE_SERIAL=your_serial
-./test/run_camera_test.sh --preview
-```
-
-**Windows (PowerShell)**:
-
-```powershell
-cd eval\lerobot_so101
-$env:CAMERA_TYPE = "realsense"
-$env:REALSENSE_SERIAL = "your_serial"
-.\test\run_camera_test.bat
-```
-
-This checks image shape, dtype, stride, and whether the constructed predict
-observation can be encoded by `model_client`.
-
-## Current Layout
-
-Main files:
-
-```text
-eval/lerobot_so101/
-├── environment.yaml                      # conda env definition (lerobot-demo)
-├── camera_setup.md                       # RealSense / camera test guide
-├── requirements-macos-realsense.txt      # macOS pyrealsense2 deps
-├── run_sync.py                           # real-robot entry: ModelClient + RobotPolicy + Platform + SyncControlLoop
-├── so101_client.py                       # SO101Platform: connect / get_observation / send_action / reset_home
-├── script/shell/so101_env.sh             # serial ports, camera, server, task, fps (Linux/macOS)
-├── script/bat/so101_env.bat              # Windows env (aligned with so101_env.sh)
-├── script/shell/build_robot_cameras.py   # build ROBOT_CAMERAS JSON from env vars
-├── script/shell/check_realsense_env.sh   # RealSense preflight checks
-├── script/shell/setup_macos_realsense.sh # macOS RealSense one-shot setup
-├── script/shell/fix_macos_pyrealsense_lib.sh
-├── script/shell/find_realsense.sh        # list RealSense serial numbers
-├── script/shell/run_robot_client.sh      # one-command sync loop launcher
-├── script/bat/run_robot_client.bat
-├── script/shell/calibrate_*.sh           # LeRobot calibration scripts
-├── script/bat/calibrate_*.bat
-├── script/shell/teleoperate.sh           # LeRobot teleop script
-├── script/bat/teleoperate.bat
-├── script/shell/record_dataset.sh        # LeRobot dataset recording script
-├── script/bat/record_dataset.bat
-├── test/run_camera_test.sh               # camera smoke test (Linux/macOS)
-├── test/run_camera_test.bat              # camera smoke test (Windows)
-├── test/test_camera.py                   # camera and observation encoding checks
-├── utils/robot.py                        # camera JSON config and home pose helpers
-├── utils/stdin.py                        # non-blocking keyboard input
-└── lerobot_camera_opencv_crop/           # opencv_crop / realsense_crop camera plugin
-```
-
-Data flow:
+| [setup_robot_en.md](setup_robot_en.md) | Environment, serial ports, calibration, model-server, sync loop |
+| [setup_camera_en.md](setup_camera_en.md) | Camera options, RealSense setup, connectivity test |
 
-```text
-SO101Platform.get_observation()
-  -> RobotPolicy.build_observation()
-  -> ModelClient.predict()
-  -> BasePolicy.select_action()
-  -> SO101Platform.send_action()
-```
+Start with the [robot deployment guide](setup_robot_en.md).