AgileX PiPER
AgileX's lightweight 6-DoF desktop arm: 4.2 kg arm body, 1.5 kg payload, ±0.1 mm repeatability, CAN bus. LeRobot reaches it through third-party plugins. The listed drop-ins are from WeGo Robotics (PyPI lerobot_robot_wego_piper) and AgRobotics Research.
LeRobot pluginverified 2026-10-24aka PiPER, Piper, AgileX Piper, piper_follower
Policies on AgileX PiPER 9 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
| Diffusion Policy Imitation | works with caveats | T3 · community reported | 2026-10-25 today | Community-reported only; not documented upstream or maintainer-tested. |
| LingBot-VA World model | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by a public checkpoint (upstream LingBot-VA runtime plus a local patch); only offline validation is documented, no on-robot inference. |
| π0 VLA | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| π0.5 VLA | works with caveats | T1 · upstream documented | 2026-10-25 today | The vendor-documented route is AgileX's own openpi fork (openpi-agilex, JAX, ROS 2) on the bimanual Cobot Magic (two PiPER arms, three cameras), not a single PiPER arm and not LeRobot. |
| SmolVLA VLA | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
| VQ-BeT Imitation | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| WALL-OSS VLA | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| X-VLA VLA | works with caveats | T1 · upstream documented | 2026-10-25 today | Upstream evidence is the bimanual AgileX Aloha platform (two PiPER arms driven through AgileX's Piper ROS 1 Noetic driver) using X-VLA's own server-client deployment, not a single PiPER arm and not LeRobot. |
No verified evidence, but both are available in LeRobot (ecosystem context): EO-1, Evo-1, Fast-WAM, GR00T N1.7, HIL-SERL, MolmoAct2, Multitask DiT, π0-FAST, TD-MPC, VLA-JEPA.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Degrees of freedom
- 6 (6 arm joints; the WeGo plugin describes it as 7-DOF counting the gripper.)src
- Payload
- ?–1500 gsrc
- Repeatability
- ?–0.1 mmsrc
- Homepage
- global.agilex.ai/products/piper
- Teleoperation
- Piper leader arm (piper_leader, WeGo plugin), PiperMate (lerobot-teleoperator-pipermate plugin)
AgileX also sells PiPER on the SCOUT MINI mobile base (SCOUT MINI COBOT). That combination is not covered by the plugins here.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | pluginsrc | — | piper_follower | docs |
| LeRobot: WeGo Robotics plugin: follower type piper_follower, leader teleop piper_leader, uses piper_sdk over CAN. Its PyPI name is lerobot_robot_wego_piper, and the import name is lerobot_robot_piper. The second listed plugin (AgRoboticsResearch/lerobot_robot_piper) registers type `piper`. Its README says `pip install lerobot_robot_piper`, but WeGo states that the PyPI package of that name is an unrelated third-party project. A separate pipermate teleoperator plugin (FashionStar servos) also exists. | ||||
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot third-party page lists two lerobot_robot_piper plugins (AgRobotics Research, WeGo Robotics).
“lerobot_robot_piper (WeGo Robotics)”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx - T3 · community reportedsource-codeverified 2026-10-24 (1d ago)
WeGo README: pip install lerobot_robot_wego_piper; PyPI lerobot_robot_piper is unrelated; config registers piper_follower / piper_leader.
https://github.com/WeGo-Robotics/lerobot_robot_piper/blob/ed387ed9502d4fb0451488bfc9c763c8d60a1e07/README.md - T3 · community reportedsource-codeverified 2026-10-24 (1d ago)
AgRobotics Research plugin registers robot type piper.
https://github.com/AgRoboticsResearch/lerobot_robot_piper/blob/abf721d9e88ac822b18cb3413a75bb8cc0e3b34f/lerobot_robot_piper/config_piper.py - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
AgileX: 6-DoF, 1.5 kg payload, 626 mm reach, ±0.1 mm repeatability, 4.2 kg arm.
“The standard PiPER provides a 1.5kg payload, a 626mm working reach, ±0.1mm repeatability, and a 4.2kg arm body.”
https://global.agilex.ai/products/piper