rfx-sdk 0.2.0

A tinygrad-inspired robotics framework for Unitree Go2

The robotics framework for the foundation model era.

Documentation | Discord

---

uv pip install rfx-sdk

import rfx

# Every robot, same interface
robot = rfx.RealRobot("so101.yaml")
obs = robot.observe()
robot.act(action)

# Every model, self-describing
loaded = rfx.load_policy("hf://rfx-community/go2-walk-v1")
rfx.run(robot, loaded, rate_hz=50)

---

Why rfx

ROS was built for message passing between components. We're in a different era -- the workflow is collect demos, train a policy, deploy, iterate. rfx is built from scratch for that loop, with all the infrastructure you'd expect from a robotics framework underneath.

• Rust core for real-time control, Python SDK for fast research
• Three-method robot interface -- observe(), act(), reset() -- same API for sim and real
• Self-describing models -- save once, load anywhere, deploy with zero config
• HuggingFace Hub native -- push and pull policies like you push datasets
• Zenoh transport -- pub/sub topics, nodes, launch graphs -- all the ROS primitives, none of the pain
• ROS 2 interop -- coexist with existing ROS 2 stacks via zenoh-plugin-ros2dds bridge
• Batteries included -- simulation (Genesis, MJX), teleoperation, LeRobot export, hardware drivers

Install

uv pip install rfx-sdk

With simulation and robot extras:

uv pip install rfx-sdk rfx-sdk-sim rfx-sdk-go2 rfx-sdk-lerobot

From source:

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

The interface

Every robot in rfx -- simulated or real -- implements the same three methods:

robot = rfx.SimRobot.from_config("go2.yaml", backend="genesis")
# robot = rfx.RealRobot("so101.yaml", port="/dev/ttyACM0")

obs = robot.observe()    # {"state": Tensor(1, 64), "images": ...}
robot.act(action)        # Tensor(1, 64)
robot.reset()

Run a policy against any robot with one call:

rfx.run(robot, policy, rate_hz=200, duration=30.0)

Rate-controlled loop with jitter tracking, error handling, and clean shutdown built in.

Train

from rfx.nn import MLP
from rfx.utils.transforms import ObservationNormalizer

policy = MLP(obs_dim=48, act_dim=12, hidden=[256, 256])
normalizer = ObservationNormalizer(state_dim=48)

# ... your training loop ...

tinygrad-native policies. MLP, ActorCritic, or subclass Policy for your own architecture.

Save

Every saved model is a self-describing directory. Weights, architecture, robot config, normalizer -- everything needed to reconstruct and deploy.

policy.save("runs/go2-walk-v1",
    robot_config=config,
    normalizer=normalizer,
    training_info={"total_steps": 50000, "best_reward": 245.3})

runs/go2-walk-v1/
  rfx_config.json       # architecture + robot + training metadata
  model.safetensors     # weights
  normalizer.json       # observation normalizer state

Push to HuggingFace Hub:

rfx.push_policy("runs/go2-walk-v1", "rfx-community/go2-walk-v1")

Load and deploy

Load from disk or Hub. No need to know the architecture, hyperparameters, or training setup.

loaded = rfx.load_policy("runs/go2-walk-v1")
loaded = rfx.load_policy("hf://rfx-community/go2-walk-v1")

loaded.policy_type       # "MLP"
loaded.robot_config      # RobotConfig(name="Go2", ...)
loaded.training_info     # {"total_steps": 50000, "best_reward": 245.3}

# Deploy -- torch/tinygrad conversion handled automatically
robot = rfx.RealRobot(loaded.robot_config)
rfx.run(robot, loaded, rate_hz=loaded.robot_config.control_freq_hz)

Inspect metadata without loading weights:

rfx.inspect_policy("runs/go2-walk-v1")

Supported hardware

Robot	Type	Interface	Status
SO-101	6-DOF arm	USB serial (Rust driver)	Ready
Unitree Go2	Quadruped	Ethernet (Zenoh transport)	Ready

Custom robots: implement observe() / act() / reset() or write a YAML config with URDF.

Simulation

# Genesis (GPU-accelerated)
robot = rfx.SimRobot.from_config("so101.yaml", backend="genesis", viewer=True)

# MJX (JAX-accelerated MuJoCo)
robot = rfx.SimRobot.from_config("go2.yaml", backend="mjx", num_envs=4096)

# Mock (zero dependencies, for testing)
robot = rfx.MockRobot(state_dim=12, action_dim=6)

Teleoperation

Bimanual SO-101 recording:

from rfx.teleop import run, so101

arm = so101()
run(arm, logging=True, rate_hz=200, duration_s=30.0)

Communication and runtime

Under the hood, rfx has a full robotics communication stack built on Zenoh -- topics, nodes, launch files, graph introspection. It's there when you need it, invisible when you don't.

from rfx.teleop import create_transport

# Pub/sub messaging -- Zenoh transport (Rust-backed, compiled in by default)
transport = create_transport()
transport.publish("robot/state", state_bytes)
sub = transport.subscribe("robot/cmd")
envelope = sub.recv(timeout_s=1.0)

Nodes follow a simple lifecycle contract:

from rfx.runtime.node import Node

class ControlNode(Node):
    publish_topics = ("robot/cmd",)
    subscribe_topics = ("robot/state",)

    def setup(self):    ...   # init
    def tick(self):     ...   # one loop iteration
    def shutdown(self): ...   # cleanup

Launch multiple nodes from a YAML graph:

name: go2-deploy
nodes:
  - package: go2_ctrl
    node: policy_node
    rate_hz: 200
  - package: go2_ctrl
    node: logger_node
    rate_hz: 10

rfx launch go2_deploy.yaml
rfx graph        # inspect the active node graph
rfx topic-list   # see all live topics

ROS 2 coexistence: rfx topics are visible to ROS 2 tools via the zenoh-plugin-ros2dds bridge. Migrate incrementally -- run rfx nodes alongside existing ROS 2 nodes, no code changes required on either side.

Enterprise scaling: The same code that runs on one robot runs on a fleet. No architecture changes, no extra infra. Get in touch -- we'll handle scaling so you don't have to.

Production Zenoh setup

Zenoh is compiled into the native extension by default -- no extra packages to install. Single-machine setups work out of the box with automatic peer discovery.

For multi-machine deployments, pass endpoints explicitly:

from rfx.node import auto_transport

transport = auto_transport(
    connect=["tcp/192.168.1.100:7447"],  # remote Zenoh router
    shared_memory=True,                   # zero-copy on same machine
)

Or configure via environment:

export RFX_ZENOH_CONNECT="tcp/192.168.1.100:7447"   # comma-separated endpoints
export RFX_ZENOH_LISTEN="tcp/0.0.0.0:7447"           # listen for incoming peers
export RFX_ZENOH_SHARED_MEMORY=0                      # disable shared memory if needed

Shared-memory transport is enabled by default for same-machine zero-copy between processes.

rfxJIT

Built-in kernel compiler that lowers and executes across cpu, cuda, and metal. IR-based autodiff, optimization passes (constant folding, dead-op elimination, fusion), and a tinyJIT-style cache+replay runtime.

from rfx.jit import value_and_grad, available_backends

# JAX-style functional transforms
loss_and_grads = value_and_grad(loss_fn)

# Check what's available on this machine
available_backends()  # {"cpu": True, "cuda": True, "metal": False}

Enable globally via environment:

export RFX_JIT=1                   # enable rfxJIT execution paths
export RFX_JIT_BACKEND=auto        # auto | cpu | cuda | metal

When enabled, policy inference automatically routes through rfxJIT when possible, with transparent fallback to tinygrad's TinyJit.

Custom policies

Register your own architectures for automatic save/load:

from rfx.nn import Policy, register_policy

@register_policy
class MyPolicy(Policy):
    def __init__(self, obs_dim, act_dim):
        self.obs_dim, self.act_dim = obs_dim, act_dim
        # ... build layers ...

    def config_dict(self):
        return {"obs_dim": self.obs_dim, "act_dim": self.act_dim}

    def forward(self, obs):
        # ... your forward pass ...

Docs

• Full documentation
• SO-101 quickstart
• Simulation guide
• Python SDK reference
• Contributor workflow

Community

• Issues
• Discussions
• Discord
• Contributing

License

MIT