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

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

• 2026年1月29日: Play with XLeRobot directly in browser with Mujoco and 3DGS: https://vector-wangel.github.io/MuJoCo-GS-Web/

• 2025年12月02日: Dual-wheel version released! 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) image

• 2025年11月11日: Temporary VLA tutorial out. Official version out soon.

• 2025年09月22日: Hardware Assembly Video Tutorial availabe at Youtube and Bilibili. Thanks WOWROBO for making this video!

• 2025年09月09日: Developer Assembly kit (excluding battery and IKEA cart) ready for purchase in China (Taobao) for 3699\ and world-wide for 579$. (In collaboration with Wowrobo)

  • 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年09月09日: Joined Embodied AI Home Robot Hackathon (Oct 25–26, Bay Area) held by SEEED x Nvidia x Huggingface as mentor! Register HERE.

• 2025年08月30日: XLeRobot 0.3.0 Release with final outfit touch up and household chores showcase demos.

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

• 2025年07月08日: 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.

• vr

• 2025年07月01日: Documentation website out for more orgainized tutorials, demos and resources.

• 2025年06月13日: 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. 🔨 (削除) Avengers (削除ここまで): 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

• Gaotian/Vector Wang
• Jiahao Wang, Chunbo Pan, QiLiu, Isaac Sin, Ryan Chan: MakerMods team, VLA and VR integration
• Zhuoyi Lu: RL sim2real deploy, teleop on real robot (Xbox, VR, Joycon)
• Yiyang Huang: RL & VLA implementation (ongoing)
• YCP: WebUI for remote control (ongoing)
• Lixing Zhang: 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, 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 RobotPi Lab, 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 and Yiyang, Huang and Yihao, Liu},
 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}
}

---Generated Image August 27, 2025 - 4_58PM