# XLeRobot
[](https://github.com/Vector-Wangel/XLeRobot) [](https://github.com/Vector-Wangel/XLeRobot) [](https://twitter.com/VectorWang2) [](https://opensource.org/licenses/Apache-2.0) [](https://discord.gg/bjZveEUh6F)
## Intro
**🚀 Bring Embodied AI to Every Family Around the World! Cheaper than iPhone📱!**
**⏰ <4hrs total assembly time**
*Built upon the giants: [LeRobot](https://github.com/huggingface/lerobot), [SO-100/SO-101](https://github.com/TheRobotStudio/SO-ARM100), [Lekiwi](https://github.com/SIGRobotics-UIUC/LeKiwi), [Bambot](https://github.com/timqian/bambot)*
---
## 📰 News
- 2025-09-22: **Hardware Assembly Video Tutorial** availabe at [Youtube](https://www.youtube.com/watch?v=upB1CEFeOlk) and [Bilibili](https://www.bilibili.com/video/BV1AGWFzUEJf/). 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￥**](https://e.tb.cn/h.SZFbBgZABZ8zRPe?tk=ba514rTBRjQ) and [world-wide for **579\$**](https://shop.wowrobo.com/products/xlerobot-dual-arm-mobile-household-robot-kit?variant=47297659961561). _(In collaboration with **Wowrobo**, one of the official collaborators with Huggingface SO101 arm, they have sold 5k+ SO101 arm worldwide with great customer feedbacks.)_
- 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](https://www.seeedstudio.com/embodied-ai-worldwide-hackathon-home-robot.html) (Oct 25–26, Bay Area) held by **SEEED x Nvidia x Huggingface** as mentor! [Register HERE](https://docs.google.com/forms/d/e/1FAIpQLSdYYDegdgIypxuGJNLcoc8kbdmU4jKgl49zg4X-107LAmBN4g/viewform).
- 
- 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](https://xlerobot.readthedocs.io/en/latest/software/index.html) with **keyboard/Xbox/Switch joycon** in the wild (bluetooth, no wifi, 0 latency).
- 
- 2025-07-08: [**Maniskill Simulation**](https://xlerobot.readthedocs.io/en/latest/simulation/index.html) 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.
- 
- 2025-07-01: [**Documentation** website](https://xlerobot.readthedocs.io/en/latest/index.html) out for more organized tutorials, demos and resources.
- 2025-06-13: [**XLeRobot 0.2.0**](https://xlerobot.readthedocs.io) 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🧠](https://huggingface.co/lerobot), datasets📊, and tools🔨 ready for deployment.
- 10k+ members for brainstorming and discussions🧑🤝🧑.
### Why "XL" Enhancement?
- 🏠 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**](https://huggingface.co/spaces/LeRobot-worldwide-hackathon/all-winners).
- **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](CONTRIBUTING.md) for guidance on how to get involved!
** Main Contributors **
- [Gaotian/Vector Wang](https://vector-wangel.github.io/)(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](https://github.com/huggingface/lerobot), [SO-100](https://github.com/TheRobotStudio/SO-ARM100), [Lekiwi](https://github.com/SIGRobotics-UIUC/LeKiwi), and [Bambot](https://github.com/timqian/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{}",
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.
>
---
```{toctree}
:maxdepth: 1
hardware/index
simulation/index
software/index
demos/index
relatedworks/index
```