ROBOTIS OMX
ROBOTIS's entry-level Physical AI arm with five joints plus a gripper, built on DYNAMIXEL-X servos. The OMX-F follower and OMX-L leader ship factory-calibrated. LeRobot supports it natively, and ROBOTIS states official ROS 2 support.
open hardwareLeRobot native since 0.4.3verified 2026-10-24aka OMX, OMX-F, OMX-L, OMX-AI, omx_follower, omx_leader
Policies on ROBOTIS OMX 15 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works | T1 · upstream documented | 2026-10-24 1d ago | |
| Diffusion Policy 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. |
| EO-1 VLA | partial | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| Evo-1 VLA | works with caveats | T1 · upstream documented | 2026-10-25 today | Physical-run evidence is post-0.6.1, unreleased LeRobot main (remote-inference docs, PR #4937); no released LeRobot version documents it. |
| Fast-WAM World model | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| GR00T N1.7 VLA | works with caveats | T3 · community reported | 2026-10-24 1d ago | 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 public checkpoint(s); on-robot inference not documented by a primary source. |
| MolmoAct2 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. |
| Multitask DiT Imitation | partial | T1 · upstream documented | 2026-10-25 today | LeRobot main's (post-0.6.1) remote-inference runner does not yet support Multi-task DiT: its history/queue preparation needs adaptation to the current-observation contract. |
| 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 | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| SmolVLA VLA | works with caveats | T1 · upstream documented | 2026-10-25 today | Physical-run evidence is post-0.6.1, unreleased LeRobot main (remote-inference docs, PR #4937); no released LeRobot version documents it. |
| VLA-JEPA 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. |
| WALL-OSS VLA | partial | T3 · community reported | 2026-10-25 today | 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 | Physical-run evidence is post-0.6.1, unreleased LeRobot main (remote-inference docs, PR #4937); no released LeRobot version documents it. |
No verified evidence, but both are available in LeRobot (ecosystem context): HIL-SERL, π0-FAST, TD-MPC, VQ-BeT.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Degrees of freedom
- 5 (ROBOTIS spec: 5 + 1 gripper (follower OMX-F and leader OMX-L).)src
- Arms
- 1
- Actuators
- Follower OMX-F: 3x Dynamixel XL430-W250-T (IDs 11-13) + 3x XL330-M288-T (IDs 14-16). Leader OMX-L: XL330-M288-T joints 1-5, XL330-M077-T joint 6.src
- Payload
- 100–250 gsrc
- Homepage
- ai.robotis.com/omx/introduction_omx.html
- Supported sensors
- RGB, single camera, RGB, two cameras (wrist + overview), RGB, three or more cameras, Intel RealSense depth
- Teleoperation
- OMX-L leader arm (omx_leader)
Payload per ROBOTIS: 100 g at full reach and 250 g at normal reach. ROBOTIS publishes STEP and STL files for the 3D-printed parts. The site footer states that "AI Worker and AI Manipulator" are Apache-2.0, but there is no OMX-specific license statement, so the license is left blank.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | nativesrc | 0.4.3 | omx_follower | docs |
| ROS 2 | upstream-reposrc | — | — | repo |
| LeRobot: Leader: --teleop.type=omx_leader. Shipped pre-configured, so no motor setup or calibration is needed. Added in PR #2614 (merged 2025-12-15). | ||||
| ROS 2: ROBOTIS states official ROS 2 support for OMX. This is ROBOTIS's own OpenMANIPULATOR ROS 2 package repo. | ||||
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot README lists OMX 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
LeRobot OMX guide: preconfigured from the factory.
“OMX robots are shipped preconfigured from the factory. Motor IDs, communication parameters, and joint offsets are already set, so no additional motor setup or calibration is required before using LeRobot.”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/omx.mdx - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
Registers omx_follower.
“@RobotConfig.register_subclass("omx_follower")”
https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/omx_follower/config_omx_follower.py - T1 · upstream documentedrelease-notessource 2026-01-22verified 2026-10-24 (1d ago)lerobot 0.4.3
OMX support first released in v0.4.3 (module absent at v0.4.2).
“feat(robot): Add support for OMX robot by @Woojin-Crive in https://github.com/huggingface/lerobot/pull/2614”
https://github.com/huggingface/lerobot/releases/tag/v0.4.3 - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
ROBOTIS: compact 5-DOF DYNAMIXEL-X platform with official ROS 2 support.
“OMX officially supports ROS 2, with compatibility across existing packages.”
https://ai.robotis.com/omx/introduction_omx.html - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
OMX-F spec: 5+1 DOF, XL430/XL330 servos, payload 100 g full reach / 250 g normal reach; STEP/STL published.
“Payload Full reach : 100g , Normal reach : 250g”
https://ai.robotis.com/omx/hardware_omx.html