Reachy 2
Pollen Robotics' open-source wheeled humanoid: two 7-DoF human-scale arms, a head with an expressive neck and antennas, and an optional omnidirectional mobile base. It runs on ROS 2 Humble with a Python SDK. LeRobot supports it natively, including in Pollen's MuJoCo/Gazebo simulation image.
open hardwareLeRobot native since 0.4.0verified 2026-10-24aka Reachy2, Reachy 2 humanoid
Policies on Reachy 2 4 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works with caveats | T1 · upstream documented | 2026-10-25 today | On-robot inference is community-reported only. Upstream documents training and recording; its evaluation step uses lerobot-eval, which in v0.6.1 evaluates in a simulation env, so it does not document on-robot inference. |
| π0 VLA | partial | T3 · community reported | 2026-10-25 today | Community-reported only (TAVIS benchmark, anonymous submission under double-blind review); no Reachy 2 success rates are published yet. |
| 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 | T3 · community reported | 2026-10-25 today | Community-reported only; not documented upstream or maintainer-tested. |
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, TD-MPC, VLA-JEPA, VQ-BeT, WALL-OSS, X-VLA.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Degrees of freedom
- 7 (Per arm, as stated by Pollen. The gripper, neck, antennas and mobile base are additional.)src
- Arms
- 2
- Actuators
- Orbita 2D/3D parallel actuators (per Pollen)src
- Payload
- ?–3000 gsrc
- Homepage
- www.pollen-robotics.com/reachy-2/
- Teleoperation
- Robot-to-robot via a second Reachy 2 (reachy2_teleoperator), Pollen VR teleoperation app (outside LeRobot)
Pollen lists ~3 kg payload per arm, 136-166 cm adjustable height, up to 50 kg full-robot weight, stereo + RGB-D vision and LiDAR. Price is not published on the product page.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | nativesrc | 0.4.0 | reachy2 | docs |
| ROS 2 | upstream-reposrc | — | — | — |
| LeRobot: Teleop in LeRobot is robot-to-robot (--teleop.type=reachy2_teleoperator, one Reachy 2 driving another). Pollen's VR teleoperation app is not included in LeRobot. Parts can be toggled with --robot.with_<part> (mobile_base, l_arm, r_arm, neck, antennas). Cameras: left/right teleop cameras and a torso camera. | ||||
| ROS 2: Pollen states that Reachy 2 runs on ROS 2 Humble (vendor software stack). | ||||
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot README lists Reachy2 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 Reachy 2 guide: two teleop modes; VR app not part of LeRobot.
“- Pollen Robotics’ VR teleoperation (not included in LeRobot). - Robot-to-robot teleoperation (use one Reachy 2 to control another).”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/reachy2.mdx - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
Registers reachy2.
“@RobotConfig.register_subclass("reachy2")”
https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/reachy2/configuration_reachy2.py - T1 · upstream documentedrelease-notessource 2025-10-23verified 2026-10-24 (1d ago)lerobot 0.4.0
Reachy 2 first released in v0.4.0 (module absent at v0.3.3).
“2 add reachy 2 to updated lerobot by @glannuzel in https://github.com/huggingface/lerobot/pull/1767”
https://github.com/huggingface/lerobot/releases/tag/v0.4.0 - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Pollen: 7-DoF arms, ~3 kg per arm, optional omnidirectional base.
“With 7 degrees of freedom, Reachy 2's arms mirror the dimensions, proportions and movements of an adult human arm. One arm can lift objects up to 3 kg and manipulate them with real dexterity.”
https://www.pollen-robotics.com/reachy-2/ - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Pollen: fully open source, Python-controllable, ROS 2 Humble.
“Fully open source. Teleoperated or controlled with Python. Runs on ROS 2 Humble.”
https://www.pollen-robotics.com/reachy-2/