Does ACT run on XLeRobot?
works with caveats
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | ev-xlerobot-act-doc | |
| Real-robot inference | works with caveats | Docs show ACT running locally on the robot's Raspberry Pi. | ev-xlerobot-act-doc |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Caveats
- The documented ACT demo is single-arm: one XLeRobot arm is recorded and run as robot.type=so101_follower, not the full xlerobot robot type.
- XLeRobot is not a drop-in LeRobot plugin; dual-arm/VR recording requires copying XLeRobot code into a LeRobot checkout.
Evidence 1 source; the cell shows the highest tier
- T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
XLeRobot project docs: ACT tutorial with a real-robot demo video (single arm, run on the Raspberry Pi), recording via robot.type=so101_follower.
“Single arm VLA policy implementation on XLeRobot:”
https://github.com/Vector-Wangel/XLeRobot/blob/b017b5e6354bd9f61f4247a920c72622ca0aade0/docs/en/source/software/getting_started/VLA_ACT.md
Embed this cell
Badge for READMEs and model cards. It always shows the current state.
[](https://caniembody.pages.dev/compat/xlerobot/act)<iframe src="https://caniembody.pages.dev/embed/xlerobot/act" width="380" height="132" style="border:0" title="ACT on XLeRobot | CanIEmbody"></iframe>History
- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij