liminal.Embodied in the loop / Full-screen lab
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Recorded simulationExplore without a robot connection
Recorded poses / estimated MuJoCo scene
Recorded estimated MuJoCo tabletop preview

Recorded MuJoCo preview

Drag to orbit · Scroll to zoomScripted teacher replay · objects are recorded poses
0.0 / 14.0 sRecorded simulation

No robot connection. Replay and camera exploration are available now.

Connect your own Haller service

Keep the robot local.
Open the lab here.

GitHub Pages hosts this interface. Your local companion supplies cameras, measured joints and the existing guarded FLUX runner.

  1. Start Haller normally, then run the command below on the robot-side machine. Viewing cameras and joints needs no policy profile.
  2. Open the local pairing page. It creates a private session link back to this full-screen lab.
  3. Allow local-network access if your browser requests it. No camera stream or pairing token is uploaded to GitHub. 
./scripts/research_ui.sh
Open local pairing page ↗

To launch FLUX prompts too, add --profile PATH_TO_VERIFIED_PROFILE using the current checkpoint, GPU transport and camera mapping for your arm. Hardware execution stays gated by fresh telemetry, verified units and explicit manual engagement. Setup details ↗