I have gotten teleoperation working on my LeRobot SO-101 robot arm! It took a few hours of referencing documentation (it's really helpful, check it out here), and a bit of finger pain to get all the connections setup., (I recommend having pliers ready to pull out the connections, the connections are in some tough to reach places) but I now have a working leader-follower teleoperation setup. There's a few things I learned while getting my workspace set up, such as needing to have a relatively thin tabletop (about 1.5 inches thick maximum) for the clamps that come with the SO-101 to have enough room to clamp the arm to the table firmly. I also learned that you have to be careful to have any coverings you put on your workspace be flat, otherwise the arm can get caught on the edges of the coverings and not move as expected.
I have taken a few videos of the teleoperation in action, one from my desk camera, and one from the robot's first-person camera, which I will post here. I'm excited to start training my robot soon, and I will be posting more updates on my progress in the future.