XLeRobot#

GitHub Stars Twitter/X Apache License Discord

image

Intro#

🚀 Bring Embodied AI to Every Family Around the World! Cheaper than iPhone📱!

⏰ <4hrs total assembly time

Built upon the giants: LeRobot, SO-100/SO-101, Lekiwi, Bambot

📰 News#

  • 2025-09-22: Hardware Assembly Video Tutorial availabe at Youtube and Bilibili. Thanks WOWROBO for making this video!

  • 2025-09-09: Developer Assembly kit (excluding battery and IKEA cart) ready for purchase in China (Taobao) for 3699￥ and world-wide for 579$. (In collaboration with Wowrobo, one of the official collaborators with Huggingface SO101 arm, they have sold 5k+ SO101 arm worldwide with great customer feedbacks.) image

    • Non-profit, I personally don’t earn any from this. I also asked Wowrobo to set the price as low as possible.

    • This is only the assembly kit for developers, please check documentation website and this repo for available codes and tutorials before you purchase.

  • 2025-09-09: Joined Embodied AI Home Robot Hackathon (Oct 25–26, Bay Area) held by SEEED x Nvidia x Huggingface as mentor! Register HERE.

  • image

  • 2025-08-30: XLeRobot 0.3.0 Release with final outfit touch up and household chores showcase demos.

  • 2025-07-30: Control XLeRobot in real life with keyboard/Xbox/Switch joycon in the wild (bluetooth, no wifi, 0 latency).

  • rea

  • 2025-07-08: Maniskill Simulation with URDFs, control scripts (support Quest3 VR, keyboard, Xbox, Switch Joycon). Supports for multiple sensors (depth, segmentation, tactile, etc), RL/IL/VLA environments. Get started in 15 min.

  • vr

  • 2025-07-01: Documentation website out for more organized tutorials, demos and resources.

  • 2025-06-13: XLeRobot 0.2.0 hardware setup fully capable for household tasks, with 660$ cost.

Cost#

Price (Buy Parts Yourself)

US

EU

CN

IN

Basic (use your laptop, single RGB head cam)

~$660

~€680

~¥3999

~₹87000

↑ Stereo dual-eye RGB head cam

+$30

+€30

+¥199

+₹6550

+ RaspberryPi

+$79

+€79

+¥399

+₹7999

↑ RealSense RGBD head cam

+$220

+€230

+¥1499

+₹35726

Assembly kit ready for purchase soon, stay tuned!

🌟 Why XLeRobot? 🌟#

XLeRobot = XL + LeRobot

Why “LeRobot” Core?#

  • Cheap Materials 💴: 90% 3D printed components with affordable motors and electronics.

  • Easy Assembly 🔨: 67 min to assemble 2 SO101 arms and configure motors.

  • Plug-&-Play 🧩: Get robots running with simple pip install and a few lines of code.

  • Thriving LeRobot Community 🌍: World’s largest low-cost robotics community featuring

    • Multiple SOTA VLA models🧠, datasets📊, and tools🔨 ready for deployment.

    • 10k+ members for brainstorming and discussions🧑‍🤝‍🧑.

Why “XL” Enhancement?#

image

  • 🏠 The field/market lacks affordable, stable, dual-arm home robots that match LeRobot’s ease of assembly.

  • 🖨️ Traditional 3D printed chassis suffer from limited durability, stability, and load capacity — impractical for daily use.

  • ⚡ DIY mobile robots face power supply challenges, leading to complex wiring setups.

Overall Advantages#

  • Cost-effective 💴: Complete build costs $660, or directly upgrade from your SO101 Arm and Lekiwi for $250.

  • Easy upgrade ⏫ from Lekiwi and SO-100/SO-101

    • Hardware: No motor ID changes or mods needed

    • Software: Same tabletop single/dual-arm setup—transfer your policies directly from SO101 arm

  • Practical and reliable 💪: Performs many daily tasks comparable to $30,000 closed-source robots.

    • More tasks demonstrated in the Huggingface LeRobot World-wide Hackathon.

    • Note: Not currently designed for in-hand dexterity 🤹, heavy lifting (over 1kg per arm) 🏋️, or highly dynamic movements (catch ball) 🏃

  • Rich open-source resources 📕

    • LeRobot’s plug-and-play code🧩 and extensive AI model library🧠

    • Backed by an active, growing community of contributors🧑‍🤝‍🧑

  • ⚠️Safety always matters⚠️: XLeRobot has inherent physical hardware limitations (low-torque motors, short arm length, wheel-based), making it physically almost incapable of harming humans, while still maintaining its ability to perform many household tasks.

🎯 Who is XLeRobot For?#

  • 🚀 Startups & Labs: Build prototypes faster with one of the world’s cheapest general robotics platform

  • 👩🔬 Self Researchers: Experiment with embodied AI without breaking the bank 💸

  • 🎓 Educators:

    • High School Teachers: Bring cutting-edge robotics to STEM classes 🧪

    • University Professors: Affordable platform for robotics/AI courses 📚

    • Students: From beginners to researchers 🎒→🎓

  • 🤖 DIY Enthusiasts: Perfect for indoor projects - plant care, delivery bots, home automation 🌱📦

Limitations#

(Hey, for this price, what more could you ask for?)

  • 🔒 Fixed height—adding a stable lifting platform would significantly increase cost and assembly difficulty

  • 📏 Smaller workspace compared to Aloha—while we try to maximize the SO101 workspace, the arm has size limitations (~40cm reach), though XLeRobot still handles most tasks effectively

  • ⚖️ Limited payload capacity (600~1000g) for a single arm

However, with all considered — cost, community support, ease of assembly, and practical utility — XLeRobot stands out as one of the most compelling low-cost robot for indoor application!

Contribute#

👋 Want to contribute? Please refer to CONTRIBUTING.md for guidance on how to get involved!

** Main Contributors **

  • Gaotian/Vector Wang(myself)

  • Zhuoyi Lu: RL sim2real deploy, teleop on real robot (Xbox, VR, Joycon)

  • Nicole Yue: Documentation website setup

  • Yuesong Wang: Mujoco simulation assets

This is just a small brick in the pyramid, made possible by LeRobot, SO-100, Lekiwi, and Bambot. Thanks to all the talented contributors behind these detailed and professional projects.

Looking forward to collaborating with anyone interested in contributing to this project!

Citation#

If you want, you can cite this work with:

@misc{wang2025xlerobot,
    author = {Wang, Gaotian and Lu, Zhuoyi},
    title = {XLeRobot: A Practical Low-cost Household Dual-Arm Mobile Robot Design for General Manipulation},
    howpublished = "\\url{<https://github.com/Vector-Wangel/XLeRobot>}",
    year = {2025}
}

🪧 Disclaimer 🪧#

If you build, buy, or develop a XLeRobot based on this repo, you will be fully responsible for all the physical and mental damages it does to you or others.

image