I've been more or less successfully using this fork of webdriver (a bit more sugary): https://github.com/camme/webdriverjs and running it through node + mocha + chai stack, more or less like this: http://unexpectedliteral.com/2012/05/09/automated-functional-testing-with-javascript-using-mocha-and-selenium-part-2/
It has worked okayish I guess, at least haven't found out better alternatives. Should work against browserstack too I guess, actually that is something I'll try next.