XLeRobot 🤖#
Intro#
🚀 Bringing Embodied AI to Everyone - Cheaper Than an iPhone! 📱
💵 ~$660 cost and ⏰ <4hrs total assembly time!!
Built upon the giants: LeRobot, SO-100/SO-101, Lekiwi, Bambot
News#
Hardware: The hardware setup for XLeRobot 0.2.0 is officially out! This is the 1st official hardware version that is fully capable for autonomous household tasks, with <1000$ cost.
Simulation: XLeRobot 0.1.5 is officially out! The current version includes a short technical blog and a detailed Step-by-step Installation Instruction, along with all the urdf files, control scripts that can get you started in 10 min.
🌟 Why XLeRobot? 🌟#
Let’s break this down since XLeRobot = XL + LeRobot
Why “LeRobot” Core?#
Cheap Materials 💴: 90% 3D printed components with affordable motors and electronics.
Easy Assembly 🔨: 67 minutes 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 state-of-the-art pretrained AI models🧠, datasets📊, and tools🔨 ready for deployment.
7000+ brilliant minds 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—making them impractical for daily use.
⚡ DIY mobile robots face power supply challenges, leading to complex wiring setups.
🤖 XLeRobot maintains compatibility with the LeRobot community’s tabletop dual-arm SO-100/SO-101 configuration, enabling seamless code and policy transfer.
Overall Advantages/Goals of XLeRobot#
Cost-effective 💴: Complete build costs $660, or upgrade from existing SO100Arm and Lekiwi for $250.
Easy upgrade ⏫ (physical and electrical) for Lekiwi and SO-100/SO-101
Hardware: No motor ID changes or hardware modifications needed
Software: Identical tabletop single-arm/dual-arm setup—transfer your trained policies directly from SO-100/SO-101 arm
Practical and reliable 💪: Performs many daily tasks comparable to $20,000 market alternatives.
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) that make it physically almost incapable of harming humans, while still maintaining its ability to perform many household tasks.
Low-torque motors🦾: Even in the case of accidental contact, the robot is highly unlikely to cause injury. Additionally, its torque limitations prevent it from performing high-speed, dynamic movements.
Short arm length🦵: In the unlikely event that it’s holding a sharp object, the robot can be quickly disabled by tipping over the IKEA cart.
Wheel-based🧑🦼➡️: It cannot climb over obstacles higher than 10cm, so you can easily restrict its movement using blocks or stairs in case of unauthorized access attempts.
These👆 are staged photos, but they demonstrate what the XLeRobot platform can achieve within its hardware limitations. (The scenes are a bit messy, but hey, that’s life!)
🎯 Who is XLeRobot For?#
🚀 Startups & Labs: Build prototypes faster with the world’s cheapest modular platform
👩🔬 Self Researchers: Experiment with embodied AI without breaking the bank 💸
🎓 Education Heroes:
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 costs and assembly difficulty
📏 Smaller workspace compared to Aloha—while we maximize the SO100 workspace, the arm has size limitations, though XLeRobot still handles most tasks effectively
⚖️ Limited payload capacity for a single arm—that’s why we use the IKEA cart
🛒 Base movement precision may be affected by the IKEA cart wheels—this can be addressed through closed-loop feedback control
All things 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!
Main Contributors#
Me.
Yuesong Wang: Mujoco simulation
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},
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.