[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"project-72109":3},{"id":4,"name":5,"fullName":6,"owner":7,"repo":5,"description":8,"homepage":9,"htmlUrl":10,"language":11,"languages":10,"totalLinesOfCode":10,"stars":12,"forks":13,"watchers":14,"openIssues":15,"contributorsCount":16,"subscribersCount":16,"size":16,"stars1d":17,"stars7d":15,"stars30d":18,"stars90d":16,"forks30d":16,"starsTrendScore":19,"compositeScore":20,"rankGlobal":10,"rankLanguage":10,"license":21,"archived":22,"fork":22,"defaultBranch":23,"hasWiki":24,"hasPages":22,"topics":25,"createdAt":10,"pushedAt":10,"updatedAt":26,"readmeContent":27,"aiSummary":28,"trendingCount":16,"starSnapshotCount":16,"syncStatus":29,"lastSyncTime":30,"discoverSource":31},72109,"XLeRobot","Vector-Wangel\u002FXLeRobot","Vector-Wangel","XLeRobot: Practical Dual-Arm Mobile Home Robot for $660","https:\u002F\u002Fxlerobot.readthedocs.io",null,"Python",5219,563,56,36,0,27,113,81,112.25,"Apache License 2.0",false,"main",true,[],"2026-06-12 04:01:03","# [XLeRobot 🤖](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Findex.html)\n\n[![en](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002Flang-en-blue.svg)](README.md)\n[![中文](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002Flang-中文-brown.svg)](README_CN.md)\n\n\u003Ca href=\"https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Findex.html\">\n  \u003Cimg width=\"1725\" height=\"1140\" alt=\"front\" src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Ff9c454ee-2c46-42b4-a5d7-88834a1c95ab\" \u002F>\n\u003C\u002Fa>\n\n[![Apache License](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FLicense-Apache%202.0-blue.svg)](https:\u002F\u002Fopensource.org\u002Flicenses\u002FApache-2.0)\n[![Twitter\u002FX](https:\u002F\u002Fimg.shields.io\u002Ftwitter\u002Ffollow\u002FVectorWang?style=social)](https:\u002F\u002Ftwitter.com\u002FVectorWang2)\n[![Docs status](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002Fdocs-passing-brightgreen.svg)](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002F)\n[![Discord](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FDiscord-XLeRobot-7289da?style=flat&logo=discord&logoColor=white)](https:\u002F\u002Fdiscord.gg\u002FbjZveEUh6F)\n---\n\n\n**🚀 Bringing Embodied AI to Everyone - Cheaper Than an iPhone! 📱**  \n**💵 Starts from $660 cost and ⏰ \u003C4hrs total assembly time!!**\n\n*Built upon the giants: [LeRobot](https:\u002F\u002Fgithub.com\u002Fhuggingface\u002Flerobot), [SO-100\u002FSO-101](https:\u002F\u002Fgithub.com\u002FTheRobotStudio\u002FSO-ARM100), [Lekiwi](https:\u002F\u002Fgithub.com\u002FSIGRobotics-UIUC\u002FLeKiwi), [Bambot](https:\u002F\u002Fgithub.com\u002Ftimqian\u002Fbambot)*\n\n\u003Ctable>\n  \u003Ctr>\n    \u003Ctd>\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F17e31979-bd5e-4790-be70-566ea8bb181e\" width=\"250\"\u002F>\u003C\u002Ftd>\n    \u003Ctd>\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F96ff4a3e-3402-47a2-bc6b-b45137ee3fdd\" width=\"250\"\u002F>\u003C\u002Ftd>\n    \u003Ctd>\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Ff6d52acc-bc8d-46f6-b3cd-8821f0306a7f\" width=\"250\"\u002F>\u003C\u002Ftd>\n  \u003C\u002Ftr>\n  \u003Ctr>\n    \u003Ctd>\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F59086300-3e6f-4a3c-b5e0-db893eeabc0c\" width=\"250\"\u002F>\u003C\u002Ftd>\n    \u003Ctd>\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F4ddbc0ff-ca42-4ad0-94c6-4e0f4047fd01\" width=\"250\"\u002F>\u003C\u002Ftd>\n    \u003Ctd>\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F7abc890e-9c9c-4983-8b25-122573028de5\" width=\"250\"\u002F>\u003C\u002Ftd>\n  \u003C\u002Ftr>\n  \u003Ctr>\n    \u003Ctd>\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Fe74a602b-0146-49c4-953d-3fa3b038a7f7\" width=\"250\"\u002F>\u003C\u002Ftd>\n    \u003Ctd>\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Fd8090b15-97f3-4abc-98c8-208ae79894d5\" width=\"250\"\u002F>\u003C\u002Ftd>\n    \u003Ctd>\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F8b54adc3-d61b-42a0-8985-ea28f2e8f64c\" width=\"250\"\u002F>\u003C\u002Ftd>\n  \u003C\u002Ftr>\n\u003C\u002Ftable>\n\n---\n\n# 📰 News \n- 2026-1-29: Play with XLeRobot directly in browser with Mujoco and 3DGS: https:\u002F\u002Fvector-wangel.github.io\u002FMuJoCo-GS-Web\u002F\n  - \u003Ca href=\"https:\u002F\u002Fvector-wangel.github.io\u002FMuJoCo-GS-Web\u002F\">\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F9f6faa1c-6f4e-40ea-a28d-795b0f3323d2\" href>\u003C\u002Fa>\n- 2025-12-02: [Dual-wheel version released](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Fhardware\u002Fgetting_started\u002Fassemble_2wheel.html)! Have a more stable and accurate differential-wheel base for a cheaper price. (Default servo motor, optional scooter brushless Motor available at a similar price)\n  \u003Cimg width=\"1368\" height=\"789\" alt=\"image\" src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Fdb226bfb-dc20-407b-9854-6a394ccd8fe7\" \u002F>\n\n- 2025-11-11: **[Temporary VLA tutorial](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Fsoftware\u002Fgetting_started\u002FRL_VLA.html#vision-language-action-vla-training-for-xlerobot)** out. Official version out soon.\n- 2025-09-22: **Hardware Assembly Video Tutorial** availabe at [Youtube](https:\u002F\u002Fwww.youtube.com\u002Fwatch?v=upB1CEFeOlk) and [Bilibili](https:\u002F\u002Fwww.bilibili.com\u002Fvideo\u002FBV1AGWFzUEJf\u002F). Thanks WOWROBO for making this video!\n- 2025-09-09: **Developer Assembly kit (excluding battery and IKEA cart) ready for purchase** in [China (Taobao) for **3699￥**](https:\u002F\u002Fe.tb.cn\u002Fh.SZFbBgZABZ8zRPe?tk=ba514rTBRjQ) and [world-wide for **579\\$**](https:\u002F\u002Fshop.wowrobo.com\u002Fproducts\u002Fxlerobot-dual-arm-mobile-household-robot-kit?variant=47297659961561). _(In collaboration with **Wowrobo**)_\n  - Non-profit, I personally don't earn any from this. I also asked Wowrobo to set the price as low as possible.\n  - This is only the assembly kit for developers, please check documentation website and this repo for available codes and tutorials before you purchase.\n- 2025-09-09: Joined [Embodied AI Home Robot Hackathon](https:\u002F\u002Fwww.seeedstudio.com\u002Fembodied-ai-worldwide-hackathon-home-robot.html) (Oct 25–26, Bay Area) held by **SEEED x Nvidia x Huggingface** as mentor! [Register HERE](https:\u002F\u002Fdocs.google.com\u002Fforms\u002Fd\u002Fe\u002F1FAIpQLSdYYDegdgIypxuGJNLcoc8kbdmU4jKgl49zg4X-107LAmBN4g\u002Fviewform).\n\n- 2025-08-30: XLeRobot 0.3.0 Release with final outfit touch up and household chores showcase demos. \n\n\n\n- 2025-07-30: [Control XLeRobot in real life](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Fsoftware\u002Findex.html) with **keyboard\u002FXbox controller\u002FSwitch joycon** in the wild anywhere. All bluetooth, no wifi needed and zero latency.\n\n\n- 2025-07-08: [**Simulation**](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Fsimulation\u002Findex.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.\n-  ![vr](https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F68b77bea-fdcf-4f42-9cf0-efcf1b188358)\n\n- 2025-07-01: [**Documentation** website](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Findex.html) out for more orgainized tutorials, demos and resources.\n\n- 2025-06-13: [**XLeRobot 0.2.0**](https:\u002F\u002Fxlerobot.readthedocs.io) hardware setup, the 1st version fully capable for autonomous household tasks, starts from 660$. \n\n---\n\n## 💵 Total Cost 💵\n\n> [!NOTE] \n> Cost excludes 3D printing, tools, shipping, and taxes.\n\n| Price (Buy all the parts yourself) | US | EU | CN | IN |\n| --- | --- | --- | --- | --- |\n| **Basic** (use your laptop, single RGB head cam) | **~$660** | **~€680** | **~¥3999** | **~₹87000** |\n| ↑ Stereo dual-eye RGB head cam | +$30 | +€30 | +¥199 | +₹6550 |\n| + RasberryPi | +$79 | +€79 | +¥399 | +₹7999 |\n| ↑ RealSense RGBD head cam | +$220 | +€230 | +¥1499 | +₹35726 |\n\n\n---\n## 🚀 Get Started 🚀\n\n> [!NOTE] \n> 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.\n\n1. 💵 **Buy your parts**: [Bill of Materials](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Fhardware\u002Fgetting_started\u002Fmaterial.html)\n2. 🖨️ **Print your stuff**: [3D printing](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Fhardware\u002Fgetting_started\u002F3d.html)\n3. 🔨 ~~Avengers~~: [**Assemble**!](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Fhardware\u002Fgetting_started\u002Fassemble.html)\n4. 💻 **Software**: [Get your robot moving!](https:\u002F\u002Fxlerobot.readthedocs.io\u002Fen\u002Flatest\u002Fsoftware\u002Findex.html)\n\n---\n\n## Contribute\n\n\n**👋 Want to contribute to XLeRobot?**\nPlease refer to [CONTRIBUTING.md](CONTRIBUTING.md) for guidance on how to get involved!\n\n**Main Contributors**\n\n- [Gaotian\u002FVector Wang](https:\u002F\u002Fvector-wangel.github.io\u002F)\n- [Jiahao Wang](https:\u002F\u002Fgithub.com\u002Fkahowang), [Chunbo Pan](https:\u002F\u002Fgithub.com\u002FIIMFINE), [QiLiu](https:\u002F\u002Fgithub.com\u002FLakesenberg), [Isaac Sin](https:\u002F\u002Fgithub.com\u002FIsaacSinn), [Ryan Chan](https:\u002F\u002Fgithub.com\u002FRapidCAMO): [MakerMods team](https:\u002F\u002Fwww.makermods.ai\u002F), VLA and VR integration\n- [Zhuoyi Lu](https:\u002F\u002Flzhuoyi.github.io\u002FZhuoyi_Lu.github.io\u002F): RL sim2real deploy, teleop on real robot (Xbox, VR, Joycon)\n- Yiyang Huang: RL & VLA implementation (ongoing)\n- YCP: WebUI for remote control (ongoing)\n- [Lixing Zhang](lixingzhang.com): Hardware design improvements\n- Nicole Yue: Documentation website setup\n- Yuesong Wang: Mujoco simulation\n- \n\n\nThis is just a small brick in the pyramid, made possible by [LeRobot](https:\u002F\u002Fgithub.com\u002Fhuggingface\u002Flerobot), [SO-100](https:\u002F\u002Fgithub.com\u002FTheRobotStudio\u002FSO-ARM100), [Lekiwi](https:\u002F\u002Fgithub.com\u002FSIGRobotics-UIUC\u002FLeKiwi), and [Bambot](https:\u002F\u002Fgithub.com\u002Ftimqian\u002Fbambot). Thanks to all the talented contributors behind these detailed and professional projects.\n\nLooking forward to collaborating with anyone interested in contributing to this project!\n\n## About me\n\n[Gaotian\u002FVector Wang](https:\u002F\u002Fvector-wangel.github.io\u002F)\n\nI am a CS graduate student at Rice University [RobotPi Lab](https:\u002F\u002Frobotpilab.github.io\u002F), 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).\n\nI 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. \n\n---\n\n## Citation\n\nIf you want, you can cite this work with:\n\n```bibtex\n@misc{wang2025xlerobot,\n    author = {Wang, Gaotian and Lu, Zhuoyi and Yiyang, Huang and Yihao, Liu},\n    title = {XLeRobot: A Practical Low-cost Household Dual-Arm Mobile Robot Design for General Manipulation},\n    howpublished = \"\\url{https:\u002F\u002Fgithub.com\u002FVector-Wangel\u002FXLeRobot}\",\n    year = {2025}\n}\n```\n---![Generated Image August 27, 2025 - 4_58PM](https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F682ef049-bb42-4b50-bf98-74d6311e774d)\n\n\n## 🪧 Disclaimer 🪧\n\n> [!NOTE]\n> 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.\n","XLeRobot 是一个成本仅为660美元的双臂移动家用机器人项目。它基于Python开发，集成了LeRobot、SO-100\u002FSO-101、Lekiwi和Bambot等开源项目的成果，支持快速组装（少于4小时）。XLeRobot具备灵活的双臂操作能力和自主导航功能，能够执行简单的家务任务。该项目适合对机器人技术感兴趣的个人开发者或小型团队用于学习、研究以及家庭自动化场景中。此外，XLeRobot还提供了详细的文档和支持社区，方便用户上手和进一步开发。",2,"2026-06-11 03:40:24","high_star"]