🚀 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

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

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• 2025-12-02: 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)

• 2025-11-11: Temporary VLA tutorial out. Official version out soon.

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

• 2025-09-09: 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.

• 2025-09-09: Joined Embodied AI Home Robot Hackathon (Oct 25–26, Bay Area) held by SEEED x Nvidia x Huggingface as mentor! Register HERE.

• 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 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.

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• 2025-07-01: Documentation website out for more orgainized tutorials, 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

• 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.

XLeRobot is fully opensource and nonprofit, please cite to support the authors if you are using XLeRobot in your research:

@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}
}

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