diff --git a/dist/tools/coap-yolo/README.md b/dist/tools/coap-yolo/README.md
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+CoAP over YOLO Utils
+====================
+
+CoAP over YOLO is using the CoAP over WebSocket serialization but sending the
+messages over UDP. The CoAP over WebSocket format depends on a reliable,
+order-preserving, duplication-free message transport; which UDP clearly is not.
+Hence the name YOLO.
+
+However, if the RIOT note is connected to a Linux host with a single reliable,
+order-preserving and duplication-free link, this should work.
+
+This folder contains WebSocket to UDP proxy that forwards messages received
+on the WebSocket to a UDP endpoint specified by the command line, and forwards
+any replies received via UDP back to the WebSocket. This allows
+exposing a CoAP over YOLO as a CoAP over WebSocket. With this you can use any
+CoAP over WebSocket implementation such as e.g. `coap-client` from
+[libcoap](https://libcoap.net/) to connect to CoAP over YOLO.
diff --git a/dist/tools/coap-yolo/coap+ws2coap+yolo.py b/dist/tools/coap-yolo/coap+ws2coap+yolo.py
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+#!/usr/bin/python3
+"""
+Bridge that translates CoAP over YOLO to CoAP over WebSocket.
+"""
+
+import aiohttp
+import aiohttp.web
+import argparse
+import asyncio
+import sys
+
+udp_ep = None
+udp_transport = None
+ws = None
+
+class ForwardFromUdpProtocol:
+    """
+    Forward received UDP datagrams via the currently connected WebSocket
+    """
+    def connection_made(self, transport):
+        pass
+
+    def datagram_received(self, data, addr):
+        global ws
+        if ws is not None:
+            asyncio.ensure_future(ws.send_bytes(data), loop=asyncio.get_event_loop())
+
+
+async def websocket_handler(request):
+    """
+    Forward received WebSocket messages to the (statically) configured UDP
+    destination endpoint
+    """
+    global udp_transport
+    global udp_ep
+    global ws
+    if ws is not None:
+        print("Someone already is connected")
+        return
+    ws = aiohttp.web.WebSocketResponse(protocols=("coap"))
+    print("WebSocket connection opened")
+    await ws.prepare(request)
+
+    async for msg in ws:
+        if msg.type == aiohttp.WSMsgType.BINARY:
+            udp_transport.sendto(msg.data, udp_ep)
+        elif msg.type == aiohttp.WSMsgType.CLOSED:
+            udp_transport.sendto(b'', udp_ep)
+            ws = None
+            return
+        else:
+            print(f"Warning: Got unexpected WebSocket Message {msg}")
+
+    udp_transport.sendto(b'', udp_ep)
+    ws = None
+    print("WebSocket connection closed")
+
+
+async def ws2yolo(_udp_ep, ws_ep, udp_local_ep):
+    """
+    Run a WebSocket 2 CoAP over YOLO bridge with the given endpoints
+    """
+    global udp_transport
+    global udp_ep
+    udp_ep = _udp_ep
+    loop = asyncio.get_running_loop()
+    udp_transport, protocol = await loop.create_datagram_endpoint(
+            ForwardFromUdpProtocol,
+            local_addr=udp_local_ep)
+
+    app = aiohttp.web.Application()
+    app.router.add_route('GET', '/.well-known/coap', websocket_handler)
+    runner = aiohttp.web.AppRunner(app)
+    await runner.setup()
+    site = aiohttp.web.TCPSite(runner)
+    await site.start()
+    await asyncio.Event().wait()
+
+
+if __name__ == "__main__":
+    DESCRIPTION = "Forward WebSocket messages via UDP"
+    parser = argparse.ArgumentParser(description=DESCRIPTION)
+    parser.add_argument("--udp-host", default="::1", type=str,
+                        help="UDP host to forward to")
+    parser.add_argument("--udp-port", default=1337, type=int,
+                        help="UDP port to forward to")
+    parser.add_argument("--local-host", default=None, type=str,
+                        help="UDP host to forward from")
+    parser.add_argument("--local-port", default=0, type=int,
+                        help="UDP port to forward from")
+    parser.add_argument("--ws-host", default="::1", type=str,
+                        help="WebSocket host to listen at")
+    parser.add_argument("--ws-port", default=8080, type=int,
+                        help="WebSocket port to listen at")
+
+    args = parser.parse_args()
+    asyncio.run(ws2yolo((args.udp_host, args.udp_port),
+                        (args.ws_host, args.ws_port),
+                        (args.local_host, args.local_port)))