reBot Arm B601-DM
Open-source, low-cost 6-DoF arm with gripper from Seeed Studio, driven by Damiao CAN motors. It is teleoperated with the reBot Arm 102 leader (FashionStar UART servos). LeRobot supports single-arm and bimanual setups natively since 0.6.0.
open hardware · CERN-OHL-W-2.0 (hardware), Apache-2.0 (software)LeRobot native since 0.6.0verified 2026-10-24aka reBot B601, reBot B601-DM, reBot Arm B601, reBot-DevArm, rebot_b601_follower, bi_rebot_b601_follower
Policies on reBot Arm B601-DM 8 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | partial | T1 · upstream documented | 2026-10-25 today | Training on reBot B601-DM data is documented by the vendor (Seeed wiki 'B601-DM with LeRobot'). The wiki's on-robot evaluation command (lerobot-record with --policy.path and no teleoperator) is rejected by the Seeed LeRobot fork the wiki installs, which directs policy deployment to lerobot-rollout, so on-robot inference is not validly documented. Public checkpoints trained on B601-DM data also exist. |
| GR00T N1.7 VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | Documented in NVIDIA's Isaac-GR00T repository, not through LeRobot's groot policy: the real-robot client uses Seeed's LeRobot fork plus the lerobot-robot-seeed-b601 plugin (--robot.type=seeed_b601_dm_follower), not LeRobot's native rebot_b601_follower. |
| 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 | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| π0 VLA | partial | T1 · upstream documented | 2026-10-25 today | Training on reBot B601-DM data is documented by the vendor (Seeed wiki 'B601-DM with LeRobot'). The wiki's on-robot evaluation command (lerobot-record with --policy.path and no teleoperator) is rejected by the Seeed LeRobot fork the wiki installs, which directs policy deployment to lerobot-rollout, so on-robot inference is not validly documented. |
| π0.5 VLA | partial | T1 · upstream documented | 2026-10-25 today | Training on reBot B601-DM data is documented by the vendor (Seeed wiki 'B601-DM with LeRobot'). The wiki's on-robot evaluation command (lerobot-record with --policy.path and no teleoperator) is rejected by the Seeed LeRobot fork the wiki installs, which directs policy deployment to lerobot-rollout, so on-robot inference is not validly documented. Public checkpoints trained on B601-DM data also exist. |
| SmolVLA VLA | partial | T1 · upstream documented | 2026-10-25 today | Training on reBot B601-DM data is documented by the vendor (Seeed wiki 'B601-DM with LeRobot'). The wiki's on-robot evaluation command (lerobot-record with --policy.path and no teleoperator) is rejected by the Seeed LeRobot fork the wiki installs, which directs policy deployment to lerobot-rollout, so on-robot inference is not validly documented. Public checkpoints trained on B601-DM data also exist. |
| 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. |
No verified evidence, but both are available in LeRobot (ecosystem context): Diffusion Policy, EO-1, Evo-1, Fast-WAM, HIL-SERL, LingBot-VA, π0-FAST, TD-MPC, VQ-BeT, WALL-OSS, X-VLA.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Degrees of freedom
- 6 (6 + 1 gripper ('6+1 DOF' per Seeed).)src
- Arms
- 1
- Actuators
- Damiao CAN motors (follower); FashionStar UART smart servos on the reBot Arm 102 leadersrc
- Payload
- ?–1500 gsrc
- Repeatability
- ?–0.2 mmsrc
- Homepage
- github.com/Seeed-Projects/reBot-DevArm
- Supported sensors
- RGB, single camera, RGB, two cameras (wrist + overview), RGB, three or more cameras, Intel RealSense depth
- Teleoperation
- reBot Arm 102 leader (rebot_102_leader / bi_rebot_102_leader), PICO 4 VR (third-party plugin, per Seeed)
Seeed sells the arm as motor, structural, gripper, full and pre-assembled kits. Per-variant prices load dynamically on the store page and are not recorded.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | nativesrc | 0.6.0 | rebot_b601_follower, bi_rebot_b601_follower | docs |
| ROS 2 | upstream-reposrc | — | — | repo |
| LeRobot: Leader: rebot_102_leader / bi_rebot_102_leader. Install extra: pip install -e ".[rebot]" (pulls in motorbridge). Re-zeroes on every connect. An MIT control mode was added in 0.6.0 (PR #3778). The Robstride-motor sibling B601-RS is not a LeRobot native type. | ||||
| ROS 2: Seeed lists ROS2 integration (kinematics, trajectory planning, gravity compensation) as done. | ||||
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot README lists reBot B601 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 reBot guide: registered follower/leader types, single and bimanual.
“| `rebot_b601_follower` | single-arm B601-DM follower robot | | `bi_rebot_b601_follower` | bimanual (dual-arm) follower robot |”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/rebot_b601.mdx - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
Config: B601-DM is a 6-DOF arm plus gripper on Damiao CAN motors.
“The B601-DM is a 6-DOF arm plus gripper driven by Damiao CAN motors.”
https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py - T1 · upstream documentedrelease-notessource 2026-07-06verified 2026-10-24 (1d ago)lerobot 0.6.0
reBot B601-DM natively integrated in v0.6.0.
“feat(robots): natively integrate Seeed Studio reBot B601-DM arm by @pkooij in https://github.com/huggingface/lerobot/pull/3624”
https://github.com/huggingface/lerobot/releases/tag/v0.6.0 - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Seeed store: 1.5 kg rated payload, ±0.2 mm repeatability, 6+1 DoF.
“The reBot Arm B601-DM combines a 1.5 kg rated payload, ±0.2 mm repeatability”
https://www.seeedstudio.com/reBot-Arm-B601-DM-Bundle.html - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Seeed reBot-DevArm README: licenses, kit options, ROS2 and LeRobot integration status.
“| ROS2 Integration | ✅ Done | Kinematics, trajectory planning, gravity compensation |”
https://github.com/Seeed-Projects/reBot-DevArm/blob/44bc1ed11bc1c3c2db035b51507a6ecae34fc79c/README.md