Trossen WidowX AI
Trossen Robotics' 6-DoF WidowX AI arm, the arm used in its ALOHA-style "Trossen AI" kits (single arm, stationary bimanual, mobile). LeRobot supports it through Trossen's own plugin (lerobot_trossen). The classic Interbotix WidowX 250 used as the leader of the original ALOHA is a different arm and is not covered by this plugin.
LeRobot pluginverified 2026-10-24aka WidowX AI, Trossen AI, widowxai_follower_robot, bi_widowxai_follower_robot, Trossen AI Stationary, Trossen AI Mobile
Policies on Trossen WidowX AI 8 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works | T1 · upstream documented | 2026-10-24 1d ago | |
| Diffusion Policy Imitation | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
| GR00T N1.7 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 VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | Trossen labels its openpi tutorial experimental, with minimal testing on the Trossen AI setup. |
| π0.5 VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | Trossen recommends LeRobot async inference (policy server + robot client) for π0.5; synchronous lerobot-record runs the policy in the control loop, which large VLAs are often too slow for. |
| SmolVLA VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | Trossen documents the SmolVLA evaluation path but has published no on-robot SmolVLA results; its SmolVLA checkpoints carry auto-generated cards only. |
| VLA-JEPA 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 | partial | T3 · community reported | 2026-10-25 today | 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): EO-1, Evo-1, Fast-WAM, HIL-SERL, LingBot-VA, MolmoAct2, Multitask DiT, π0-FAST, TD-MPC, VQ-BeT, WALL-OSS.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Degrees of freedom
- 6src
- Payload
- ?–1500 gsrc
- Repeatability
- ?–1 mmsrc
- Price (USD)
- $4545.95 (WidowX AI 'Base' configuration (follower, precision grip end-effector) on Trossen's store page.)src
- Homepage
- www.trossenrobotics.com/widowx-ai
- Supported sensors
- RGB, single camera, RGB, two cameras (wrist + overview), RGB, three or more cameras, Intel RealSense depth
- Teleoperation
- WidowX AI leader arm (widowxai_leader_teleop)
Trossen spec: payload 1.5 kg, reach 700 mm, 6 DoF, repeatability 1 mm, weight 4 kg.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | pluginsrc | — | widowxai_follower_robot, bi_widowxai_follower_robot, mobileai_robot | docs |
| LeRobot: Vendor-maintained plugin. Leaders: widowxai_leader_teleop / bi_widowxai_leader_teleop / mobileai_leader_teleop. Requires Python >=3.12 and lerobot>=0.6.0. Installed with `uv sync` from the repo, since it is not on PyPI as of 2026-10-24. LeRobot's own native widowx teleoperator (classic WidowX) was deprecated in 0.4.0. | ||||
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot third-party page lists lerobot_trossen for WidowX and ALOHA-style arms.
“Plugin for the WidowX and ALOHA-style arms from”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Trossen plugin README: WidowX AI types, auto-registration, lerobot>=0.6.0.
“This package requires **Python ≥ 3.12** (it depends on `lerobot >= 0.6.0`, which requires 3.12).”
https://github.com/TrossenRobotics/lerobot_trossen/blob/337ed74df1ee617ddfb5987a9f7464cf3089c4a2/README.md - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Trossen WidowX AI spec: payload 1.5 kg, 6 DoF, repeatability 1 mm.
“PAYLOAD 1.5kg REACH 700mm SPAN 1400mm DoF 6 REPEATABILITY 1mm WEIGHT 4kg”
https://www.trossenrobotics.com/widowx-ai - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Trossen store: WidowX AI Base configuration $4,545.95.
“Custom Molded Silicone Grip Pads $4,545.95”
https://www.trossenrobotics.com/widowx-ai - T1 · upstream documentedrelease-notessource 2025-10-23verified 2026-10-24 (1d ago)lerobot 0.4.0
LeRobot 0.4.0 deprecated its native stretch, viperx and widowx devices.
“chore(robots): deprecate strech, vipex and widowx robots by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2205”
https://github.com/huggingface/lerobot/releases/tag/v0.4.0