HopeJR
Open-source DIY humanoid project from TheRobotStudio. LeRobot integrates its 7-motor arm and its tendon-driven dexterous hand as two separate robots. Both are teleoperated with the Homunculus exoskeleton and glove.
open hardwareLeRobot native since 0.3.2verified 2026-10-24aka HOPEJr, Hope Jr, HopeJr arm, hope_jr_arm, hope_jr_hand
Policies on HopeJR 1 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | partial | T1 · upstream documented | 2026-10-24 1d ago | Upstream states that Record, Replay and Train with Hope-JR are still experimental. |
No verified evidence, but both are available in LeRobot (ecosystem context): Diffusion Policy, EO-1, Evo-1, Fast-WAM, GR00T N1.7, HIL-SERL, LingBot-VA, MolmoAct2, Multitask DiT, π0-FAST, π0, π0.5, SmolVLA, TD-MPC, VLA-JEPA, VQ-BeT, WALL-OSS, X-VLA.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Degrees of freedom
- 7 (Arm: 7 motors (shoulder pitch/yaw/roll, elbow flex, wrist roll/yaw/pitch). The hand is a separate robot with 16 actuators.)src
- Arms
- 1
- Actuators
- Arm: 1x SM8512BL (shoulder pitch) + 6x Feetech STS3250. Hand: 16x Feetech SCS0009 micro servos.src
- Homepage
- github.com/TheRobotStudio/HOPEJr
- Teleoperation
- Homunculus exoskeleton arm (homunculus_arm), Homunculus glove (homunculus_glove)
The maker repo contains both a full-humanoid design (Humanoid/) and the arm, hand and exoskeleton work integrated with LeRobot (Arm/). LeRobot only integrates the arm and hand, not the full humanoid. GitHub detects no license file in the HOPEJr repo, so the license is left blank.
Framework support
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot README lists HopeJR among natively supported hardware.
“SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601.”
https://github.com/huggingface/lerobot/blob/v0.6.1/README.md - T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
HopeJR guide: separate calibration/teleop for hand (glove) and arm (exoskeleton).
“Run this script to find the USB ports for the arm, hand, glove, and exoskeleton:”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/hope_jr.mdx - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
Registers hope_jr_hand and hope_jr_arm.
“@RobotConfig.register_subclass("hope_jr_arm")”
https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/hope_jr/config_hope_jr.py - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
Arm motor map: sm8512bl shoulder pitch + six sts3250 joints.
“"shoulder_pitch": Motor(1, "sm8512bl", MotorNormMode.RANGE_M100_100),”
https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/hope_jr/hope_jr_arm.py - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
Hand motor map: 16 scs0009 servos (thumb 4, four fingers x3).
“"pinky_pip_dip": Motor(16, "scs0009", MotorNormMode.RANGE_0_100),”
https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/hope_jr/hope_jr_hand.py - T1 · upstream documentedrelease-notessource 2025-08-01verified 2026-10-24 (1d ago)lerobot 0.3.2
HopeJR was added before the first tagged release.
“Add Hope Jr by @aliberts in https://github.com/huggingface/lerobot/pull/935”
https://github.com/huggingface/lerobot/releases/tag/v0.3.2 - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Maker repo: full humanoid design plus the arm/teleop work integrated with LeRobot.
“- **LeRobot Integration**: Full software integration allowing recording, training, and inference”
https://github.com/TheRobotStudio/HOPEJr/blob/0a60df1e326b092436edfb011b833fb9a3bc397b/README.md