UFACTORY xArm
UFACTORY's xArm collaborative arm series, made up of xArm 5, 6 and 7 with 5, 6 and 7 DoF respectively and 3-5 kg payload. LeRobot reaches it only through a third-party plugin (SpesRobotics lerobot-robot-xarm), and that plugin is built around UFACTORY's smaller Lite 6 arm.
LeRobot pluginverified 2026-10-24aka xArm, UFACTORY xArm 5, UFACTORY xArm 6, UFACTORY xArm 7, xArm6, xArm7, lerobot_robot_xarm
Policies on UFACTORY xArm 6 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT 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. |
| 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. |
| Evo-1 VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | Evidence covers the xArm6 only, driven by Evo-1's own websocket client script (official xArmAPI), not by the LeRobot xArm plugin; no xArm checkpoint is published. |
| 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 | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| TD-MPC RL | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | Evidence is the FOWM authors' real xArm 7 experiments with their own codebase; the public FOWM repo runs only the simulated xArm tasks, and LeRobot's tdmpc port documents no real-robot use. |
No verified evidence, but both are available in LeRobot (ecosystem context): EO-1, Fast-WAM, GR00T N1.7, HIL-SERL, LingBot-VA, MolmoAct2, Multitask DiT, π0-FAST, π0, VLA-JEPA, VQ-BeT, WALL-OSS, X-VLA.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Repeatability
- ?–0.1 mmsrc
- Price (USD)
- $5299 (Starting price for the xArm series on UFACTORY's official store page. It depends on model and configuration.)src
- Homepage
- www.ufactory.cc/xarm-collaborative-robot/
UFACTORY comparison table: xArm 5/6/7 have 5/6/7 DoF, 3/5/3.5 kg payload, 700 mm reach and ±0.1 mm repeatability. The Lite 6, the model the LeRobot plugin targets, has 600 g max payload and ±0.5 mm repeatability. DoF is left unset because it differs by model.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | pluginsrc | — | lerobot_robot_xarm | docs |
| ROS 2 | upstream-reposrc | — | — | repo |
| LeRobot: Third-party drop-in plugin by Spes Robotics (Apache-2.0, requires lerobot>=0.4). It ships lite6.urdf and a Lite6Gripper class and reads 6 joints, so it targets the Lite 6 rather than xArm 5/7. Paired teleop in its README: lerobot-teleoperator-teleop. | ||||
| ROS 2: UFACTORY's own ROS 2 packages (xArm-Developer org). | ||||
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot's third-party page lists lerobot-robot-xarm as a drop-in plugin for UFACTORY xArm.
“Plugin for the xArm collaborative arm series from”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx - T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
Plugins are auto-discovered by package-name prefix.
“Drop-in plugins are auto-discovered by package name: LeRobot imports any installed package prefixed with `lerobot_robot_` or `lerobot_teleoperator_`.”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx - T3 · community reportedsource-codeverified 2026-10-24 (1d ago)
Plugin registers robot type lerobot_robot_xarm; xarm.py uses lite6.urdf and a Lite6Gripper; published on PyPI as lerobot-robot-xarm 0.0.3.
https://github.com/SpesRobotics/lerobot-robot-xarm/blob/8758f9bfa22c0234e4db64553af0d7186a115347/lerobot_robot_xarm/config_xarm.py - T3 · community reportedsource-codeverified 2026-10-24 (1d ago)
README install line: pip install lerobot-robot-xarm lerobot-teleoperator-teleop; --robot.type=lerobot_robot_xarm.
https://github.com/SpesRobotics/lerobot-robot-xarm/blob/8758f9bfa22c0234e4db64553af0d7186a115347/README.md - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
UFACTORY xArm comparison: xArm 5/6/7 DoF 5/6/7, payload 3/5/3.5 kg, repeatability ±0.1 mm.
“Degrees of freedom 5 6 7 Repeatability ±0.1mm ±0.1mm ±0.1mm”
https://www.ufactory.cc/xarm-collaborative-robot/ - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
UFACTORY store: xArm from US$5,299.
“From US$5,299”
https://www.ufactory.cc/xarm-collaborative-robot/ - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
UFACTORY's xarm_ros2 packages support ROS 2 Humble.
“- Ubuntu 22.04 + ROS Humble”
https://github.com/xArm-Developer/xarm_ros2/blob/ac736c92b02de7ca7e0be6f737d77d46707464d8/ReadMe.md