base on XLeRobot: Practical Dual-Arm Mobile Home Robot for $660 # [XLeRobot 🤖](https://xlerobot.readthedocs.io/en/latest/index.html) [](README.md) [](README_CN.md) <a href="https://xlerobot.readthedocs.io/en/latest/index.html"> <img width="1725" height="1140" alt="front" src="https://github.com/user-attachments/assets/f9c454ee-2c46-42b4-a5d7-88834a1c95ab" /> </a> [](https://opensource.org/licenses/Apache-2.0) [](https://twitter.com/VectorWang2) [](https://xlerobot.readthedocs.io/en/latest/) [](https://discord.gg/bjZveEUh6F) --- **🚀 Bringing Embodied AI to Everyone - Cheaper Than an iPhone! 📱** **💵 Starts from $660 cost and ⏰ <4hrs total assembly time!!** *Built upon the giants: [LeRobot](https://github.com/huggingface/lerobot), [SO-100/SO-101](https://github.com/TheRobotStudio/SO-ARM100), [Lekiwi](https://github.com/SIGRobotics-UIUC/LeKiwi), [Bambot](https://github.com/timqian/bambot)* <table> <tr> <td><img src="https://github.com/user-attachments/assets/17e31979-bd5e-4790-be70-566ea8bb181e" width="250"/></td> <td><img src="https://github.com/user-attachments/assets/96ff4a3e-3402-47a2-bc6b-b45137ee3fdd" width="250"/></td> <td><img src="https://github.com/user-attachments/assets/f6d52acc-bc8d-46f6-b3cd-8821f0306a7f" width="250"/></td> </tr> <tr> <td><img src="https://github.com/user-attachments/assets/59086300-3e6f-4a3c-b5e0-db893eeabc0c" width="250"/></td> <td><img src="https://github.com/user-attachments/assets/4ddbc0ff-ca42-4ad0-94c6-4e0f4047fd01" width="250"/></td> <td><img src="https://github.com/user-attachments/assets/7abc890e-9c9c-4983-8b25-122573028de5" width="250"/></td> </tr> <tr> <td><img src="https://github.com/user-attachments/assets/e74a602b-0146-49c4-953d-3fa3b038a7f7" width="250"/></td> <td><img src="https://github.com/user-attachments/assets/d8090b15-97f3-4abc-98c8-208ae79894d5" width="250"/></td> <td><img src="https://github.com/user-attachments/assets/8b54adc3-d61b-42a0-8985-ea28f2e8f64c" width="250"/></td> </tr> </table> --- # 📰 News - 2025-09-09: **Developer Assembly kit (excluding battery and IKEA cart) ready for purchase** in [China (Taobao) for **3699￥**](https://e.tb.cn/h.SZFbBgZABZ8zRPe?tk=ba514rTBRjQ) and [world-wide for **579\$**](https://shop.wowrobo.com/products/xlerobot-dual-arm-mobile-household-robot-kit?variant=47297659961561). _(In collaboration with **Wowrobo**, one of the official collaborators with Huggingface SO101 arm, they have sold 5k+ SO101 arm worldwide with great customer feedback.)_ <img width="1482" height="485" alt="image" src="https://github.com/user-attachments/assets/788836c1-966a-4d11-a911-5c37befc0b85" /> - Non-profit, I personally don't earn any from this. I also asked Wowrobo to set the price as low as possible. - This is only the assembly kit for developers, please check documentation website and this repo for available codes and tutorials before you purchase. - 2025-09-09: Joined [Embodied AI Home Robot Hackathon](https://www.seeedstudio.com/embodied-ai-worldwide-hackathon-home-robot.html) (Oct 25–26, Bay Area) held by **SEEED x Nvidia x Huggingface** as mentor! [Register HERE](https://docs.google.com/forms/d/e/1FAIpQLSdYYDegdgIypxuGJNLcoc8kbdmU4jKgl49zg4X-107LAmBN4g/viewform). - <img width="2400" height="1256" alt="image" src="https://github.com/user-attachments/assets/4132c23b-5c86-4bb9-94b4-a6b12059685b" /> - 2025-08-30: XLeRobot 0.3.0 Release with final outfit touch up and household chores showcase demos. - 2025-07-30: [Control XLeRobot in real life](https://xlerobot.readthedocs.io/en/latest/software/index.html) with **keyboard/Xbox controller/Switch joycon** in the wild anywhere. All bluetooth, no wifi needed and zero latency. -  - 2025-07-08: [**Simulation**](https://xlerobot.readthedocs.io/en/latest/simulation/index.html) with updated urdfs, control scripts (support Quest3 VR, keyboard, Xbox controller, switch joycon), support for new hardware and cameras, RL environment. Get started in 15 min. -  - 2025-07-01: [**Documentation** website](https://xlerobot.readthedocs.io/en/latest/index.html) out for more orgainized tutorials, demos and resources. - 2025-06-13: [**XLeRobot 0.2.0**](https://xlerobot.readthedocs.io) hardware setup, the 1st version fully capable for autonomous household tasks, starts from 660$. --- ## 💵 Total Cost 💵 > [!NOTE] > Cost excludes 3D printing, tools, shipping, and taxes. | Price (Buy all the parts yourself) | US | EU | CN | IN | | --- | --- | --- | --- | --- | | **Basic** (use your laptop, single RGB head cam) | **~$660** | **~€680** | **~¥3999** | **~₹87000** | | ↑ Stereo dual-eye RGB head cam | +$30 | +€30 | +¥199 | +₹6550 | | + RasberryPi | +$79 | +€79 | +¥399 | +₹7999 | | ↑ RealSense RGBD head cam | +$220 | +€230 | +¥1499 | +₹35726 | --- ## 🚀 Get Started 🚀 > [!NOTE] > If you are totally new to programming, please spend at least a day to get yourself familiar with basic Python, Ubuntu and Github (with the help of Google and AI). At least you should know how to setup ubuntu system, git clone, pip install, use intepreters (VS Code, Cursor, Pycharm, etc.) and directly run commands in the terminals. 1. 💵 **Buy your parts**: [Bill of Materials](https://xlerobot.readthedocs.io/en/latest/hardware/getting_started/material.html) 2. 🖨️ **Print your stuff**: [3D printing](https://xlerobot.readthedocs.io/en/latest/hardware/getting_started/3d.html) 3. 🔨 ~~Avengers~~: [**Assemble**!](https://xlerobot.readthedocs.io/en/latest/hardware/getting_started/assemble.html) 4. 💻 **Software**: [Get your robot moving!](https://xlerobot.readthedocs.io/en/latest/software/index.html) --- ## Contribute **👋 Want to contribute to XLeRobot?** Please refer to [CONTRIBUTING.md](CONTRIBUTING.md) for guidance on how to get involved! **Main Contributors** - [Gaotian/Vector Wang](https://vector-wangel.github.io/) - [Zhuoyi Lu](https://lzhuoyi.github.io/Zhuoyi_Lu.github.io/): RL sim2real deploy, teleop on real robot (Xbox, VR, Joycon) - Yiyang Huang: RL & VLA implementation (ongoing) - YCP: WebUI for remote control (ongoing) - [Lixing Zhang](lixingzhang.com): Hardware design improvements - Nicole Yue: Documentation website setup - Yuesong Wang: Mujoco simulation This is just a small brick in the pyramid, made possible by [LeRobot](https://github.com/huggingface/lerobot), [SO-100](https://github.com/TheRobotStudio/SO-ARM100), [Lekiwi](https://github.com/SIGRobotics-UIUC/LeKiwi), and [Bambot](https://github.com/timqian/bambot). Thanks to all the talented contributors behind these detailed and professional projects. Looking forward to collaborating with anyone interested in contributing to this project! ## About me [Gaotian/Vector Wang](https://vector-wangel.github.io/) I am a CS graduate student at Rice University [RobotPi Lab](https://robotpilab.github.io/), focusing on robust object manipulation, where we propse virtual cages and funnels and physics-aware world models to close the Sim2real gap and achieve robust manipulation under uncertainties. One of my papers, Caging in Time, has recently been accepted by International Journal of Robotics Research (IJRR). I built XLeRobot as a personal hobby to instantiate my research theory, also to provide a low-cost platform for people who are interested in robotics and embodied AI to work with. [](https://star-history.com/#Vector-Wangel/XLeRobot&Timeline) --- ## Citation If you want, you can cite this work with: ```bibtex @misc{wang2025xlerobot, author = {Wang, Gaotian and Lu, Zhuoyi}, title = {XLeRobot: A Practical Low-cost Household Dual-Arm Mobile Robot Design for General Manipulation}, howpublished = "\url{https://github.com/Vector-Wangel/XLeRobot}", year = {2025} } ``` --- ## 🪧 Disclaimer 🪧 > [!NOTE] > If you build, buy, or develop a XLeRobot based on this repo, you will be fully responsible for all the physical and mental damages it does to you or others. ", Assign "at most 3 tags" to the expected json: {"id":"14799","tags":[]} "only from the tags list I provide: [{"id":77,"name":"3d"},{"id":89,"name":"agent"},{"id":17,"name":"ai"},{"id":54,"name":"algorithm"},{"id":24,"name":"api"},{"id":44,"name":"authentication"},{"id":3,"name":"aws"},{"id":27,"name":"backend"},{"id":60,"name":"benchmark"},{"id":72,"name":"best-practices"},{"id":39,"name":"bitcoin"},{"id":37,"name":"blockchain"},{"id":1,"name":"blog"},{"id":45,"name":"bundler"},{"id":58,"name":"cache"},{"id":21,"name":"chat"},{"id":49,"name":"cicd"},{"id":4,"name":"cli"},{"id":64,"name":"cloud-native"},{"id":48,"name":"cms"},{"id":61,"name":"compiler"},{"id":68,"name":"containerization"},{"id":92,"name":"crm"},{"id":34,"name":"data"},{"id":47,"name":"database"},{"id":8,"name":"declarative-gui "},{"id":9,"name":"deploy-tool"},{"id":53,"name":"desktop-app"},{"id":6,"name":"dev-exp-lib"},{"id":59,"name":"dev-tool"},{"id":13,"name":"ecommerce"},{"id":26,"name":"editor"},{"id":66,"name":"emulator"},{"id":62,"name":"filesystem"},{"id":80,"name":"finance"},{"id":15,"name":"firmware"},{"id":73,"name":"for-fun"},{"id":2,"name":"framework"},{"id":11,"name":"frontend"},{"id":22,"name":"game"},{"id":81,"name":"game-engine "},{"id":23,"name":"graphql"},{"id":84,"name":"gui"},{"id":91,"name":"http"},{"id":5,"name":"http-client"},{"id":51,"name":"iac"},{"id":30,"name":"ide"},{"id":78,"name":"iot"},{"id":40,"name":"json"},{"id":83,"name":"julian"},{"id":38,"name":"k8s"},{"id":31,"name":"language"},{"id":10,"name":"learning-resource"},{"id":33,"name":"lib"},{"id":41,"name":"linter"},{"id":28,"name":"lms"},{"id":16,"name":"logging"},{"id":76,"name":"low-code"},{"id":90,"name":"message-queue"},{"id":42,"name":"mobile-app"},{"id":18,"name":"monitoring"},{"id":36,"name":"networking"},{"id":7,"name":"node-version"},{"id":55,"name":"nosql"},{"id":57,"name":"observability"},{"id":46,"name":"orm"},{"id":52,"name":"os"},{"id":14,"name":"parser"},{"id":74,"name":"react"},{"id":82,"name":"real-time"},{"id":56,"name":"robot"},{"id":65,"name":"runtime"},{"id":32,"name":"sdk"},{"id":71,"name":"search"},{"id":63,"name":"secrets"},{"id":25,"name":"security"},{"id":85,"name":"server"},{"id":86,"name":"serverless"},{"id":70,"name":"storage"},{"id":75,"name":"system-design"},{"id":79,"name":"terminal"},{"id":29,"name":"testing"},{"id":12,"name":"ui"},{"id":50,"name":"ux"},{"id":88,"name":"video"},{"id":20,"name":"web-app"},{"id":35,"name":"web-server"},{"id":43,"name":"webassembly"},{"id":69,"name":"workflow"},{"id":87,"name":"yaml"}]" returns me the "expected json"