XLeRobot
Low-cost open-source dual-arm mobile home robot: two SO-101 arms on a LeKiwi-style base (3-omniwheel, plus 2-wheel and mecanum variants) with a head camera. Parts start at about $660. It ships its own LeRobot plugin packages instead of being native to LeRobot.
open hardware · Apache-2.0LeRobot pluginverified 2026-10-24aka XLeRobot dual-arm mobile robot, xlerobot_2wheels, xlerobot_mecanum
Policies on XLeRobot 5 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | The documented ACT demo is single-arm: one XLeRobot arm is recorded and run as robot.type=so101_follower, not the full xlerobot robot type. |
| Diffusion Policy Imitation | partial | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| π0.5 VLA | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream by Physical Intelligence or maintainer-tested. |
| SmolVLA VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | The documented SmolVLA workflow drives XLeRobot's arms as robot.type=bi_so101_follower using a community LeRobot fork (kahowang/lerobot); XLeRobot is not a drop-in LeRobot plugin. |
| X-VLA 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): EO-1, Evo-1, Fast-WAM, GR00T N1.7, HIL-SERL, LingBot-VA, MolmoAct2, Multitask DiT, π0-FAST, π0, TD-MPC, VLA-JEPA, VQ-BeT, WALL-OSS.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Degrees of freedom
- 5 (Per arm (SO-101: five joints + gripper); 2 arms, plus mobile base.)src
- Arms
- 2
- Price (USD)
- $660 (Self-sourced Basic build (uses your laptop, single RGB head camera), excluding 3D printing, tools, shipping and taxes, per the maker README. A developer assembly kit is sold via WowRobo.)src
- BOM / build
- xlerobot.readthedocs.io/en/latest/hardware/getting_started/material.html
- Homepage
- github.com/Vector-Wangel/XLeRobot
- Supported sensors
- RGB, single camera, RGB, two cameras (wrist + overview), RGB, three or more cameras, Intel RealSense depth
- Teleoperation
- Quest 3 VR (xlerobot_vr), Keyboard / Xbox controller / Switch Joy-Con (per maker README)
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | pluginsrc | — | xlerobot, xlerobot_2wheels, xlerobot_mecanum | repo |
| LeRobot: Plugin packages live in software/plugins/ of the maker repo: lerobot_robot_xlerobot (3-omniwheel), lerobot_robot_xlerobot_2wheels and lerobot_robot_xlerobot_mecanum. Each also registers a *_client type. lerobot_teleoperator_xlerobot_vr (xlerobot_vr) is also provided. Not on PyPI as of 2026-10-24, so install editable from the repo. Not listed on LeRobot's v0.6.1 third-party page. | ||||
Sources
- T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Maker README: built on SO-100/101 + LeKiwi; Basic build ~$660 (excl. printing/shipping/tax); optional RealSense head cam.
“| **Basic** (use your laptop, single RGB head cam) | **~$660** |”
https://github.com/Vector-Wangel/XLeRobot/blob/b017b5e6354bd9f61f4247a920c72622ca0aade0/README.md - T1 · upstream documentedsource-codeverified 2026-10-24 (1d ago)
Plugin packages auto-discovered by LeRobot; types xlerobot, xlerobot_2wheels, xlerobot_mecanum.
“- `lerobot_robot_xlerobot/` — the 3-omniwheel base (`--robot.type=xlerobot`).”
https://github.com/Vector-Wangel/XLeRobot/blob/b017b5e6354bd9f61f4247a920c72622ca0aade0/software/plugins/README.md - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
SO-ARM100 README lists XLeRobot as an add-on: 2x SO101 arms, LeKiwi base, wrist + head cameras.
“A dual-arm mobile robot for daily use, with 2x SO101 arms, 1x Lekiwi base, 1x 300Wh Anker Battery, 2x wrist RGB cameras, 1x head depth camera (with a 2-dof neck). Total cost 660$.”
https://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md