XLeRobot: Practical Dual-Arm Mobile Home Robot for $660

🚀 Bringing Embodied AI to Everyone - Cheaper Than an iPhone! 📱
💵 Starts from $660 cost and ⏰ <4hrs total assembly time!!

Built upon the giants: LeRobot, SO-100/SO-101, Lekiwi, Bambot

• 2025-08-30: XLeRobot 0.3.0 Release with final outfit touch up and household chores showcase demos. Assembly kit ready for purchase soon, stay tuned!

• 2025-07-30: Control XLeRobot in real life with keyboard/Xbox controller/Switch joycon in the wild anywhere. All bluetooth, no wifi needed and zero latency.

• 

• 2025-07-08: Simulation 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 out for more orgainized turotials, demos and resources.

• 2025-06-13: XLeRobot 0.2.0 hardware setup, the 1st version fully capable for autonomous household tasks, starts from 660$.

1. 💵 Buy your parts: Bill of Materials
2. 🖨️ Print your stuff: 3D printing
3. 🔨 Avengers: Assemble!
4. 💻 Software: Get your robot moving!

👋 Want to contribute to XLeRobot? Please refer to CONTRIBUTING.md for guidance on how to get involved!

Main Contributors

• Zhuoyi Lu: RL sim2real deploy, teleop on real robot (Xbox, VR, Joycon)
• Nicole Yue: Documentation website setup
• Yuesong Wang: Mujoco simulation

This is just a small brick in the pyramid, made possible by LeRobot, SO-100, Lekiwi, and 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!

Gaotian/Vector Wang

I am a CS graduate student at Rice University, 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.

If you want, you can cite this work with:

@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}
}

---