Pick a robot you can actually build, buy and train on.
74 robot arms, bases, humanoids, hands and teleop rigs. 14 are supported upstream in LeRobot and 45 publish their hardware files. Prices are for one unit, in USD.
| Hardware | Price | DOF | LeRobot | Stars | HF sets | Updated | Motors | Simulators |
|---|---|---|---|---|---|---|---|---|
| Dummy RobotArm by Zhihui Peng | — | 6 | — | 15.5k | — | 31 mo ago | Other, 6× closed-loop stepper motors (42- and 20-size, custom Ctrl-Step CAN drivers) with harmonic reducers | — |
| SO-101Arm by The Robot Studio | $121.94 | 5 | Official | 7.5k | 8.0k | 1 mo ago | Feetech, 6× Feetech STS3215 (7.4 V or 12 V) | MuJoCo, Genesis, ManiSkill |
| XLeRobotMobile manipulator by Vector Wang | $660–$1k | 15 | Fork | 5.5k | 131 | 3 mo ago | Feetech, 17× Feetech STS3215 (12V) | MuJoCo, ManiSkill |
| Mobile ALOHAMobile manipulator by Stanford / Trossen Robotics | $32k | 12 | Plugin | 4.5k | — | 28 mo ago | Dynamixel | — |
| Open Duck MiniBiped by apirrone | $450 | 14 | — | 4.1k | — | 8 mo ago | Feetech, 14× Feetech STS3215 (7.4V) | MuJoCo |
| Low-Cost Robot Arm (Koch v1.0)Arm by Alexander Koch | $250 | 5 | Fork | 3.4k | — | 25 mo ago | Dynamixel, 2× Dynamixel XL430-W250 | MuJoCo |
| OpenArm v1Arm by Enactic | $3.3k–$6.5k | 7 | Official | 3.3k | 444 | 1 mo ago | Damiao, 2× Damiao DM8009 (shoulder) | MuJoCo, Isaac, Genesis |
| ALOHA 2 (Stationary)Bimanual by Trossen Robotics / Google DeepMind | $33k | 12 | Plugin | 2.3k | 513 | 30 mo ago | Dynamixel | MuJoCo |
| Berkeley Humanoid LiteHumanoid by UC Berkeley | $4.3k–$5k | 20 | — | 1.9k | — | 7 mo ago | Brushless, 10× 6512 actuator (MAD Components M6C12 150KV BLDC + 3D-printed cycloidal) | MuJoCo, Isaac |
| UMI handheld gripperTeleop device by Columbia / Stanford (Chi et al.) | $371 | — | — | 1.6k | — | 5 mo ago | — | — |
| Reachy MiniOther by Pollen Robotics / Hugging Face | $399–$499 | 9 | — | 1.5k | — | 1 mo ago | Dynamixel, 6× Dynamixel XL330-M288-T (Stewart platform head) | — |
| LeKiwiMobile manipulator by SIGRobotics UIUC | $174–$525 | 8 | Official | 1.4k | 649 | 2 mo ago | Feetech, 3× Feetech STS3215 (wheels) | MuJoCo, ManiSkill |
| Unitree Go2Quadruped by Unitree | $1.6k | 12 | — | 1.4k | — | 1 mo ago | Brushless, 12× Unitree joint motor (~45 N·m max, knee) | MuJoCo, Isaac |
| AlohaMiniMobile manipulator by liyiteng | $600 | 10 | Fork | 1.1k | — | 3 mo ago | Feetech, 16× Feetech STS3215 (12V) | — |
| BamBotMobile manipulator by timqian | $300 | 10 | Fork | 972 | — | 15 mo ago | Feetech, 15× Feetech STS3215 (12V) | — |
| HopeJRHumanoid by The Robot Studio | $3k | 7 | Official | 826 | 1 | 5 mo ago | Feetech, 1× Feetech SM8512BL + 6× Feetech STS3250 (arm) | — |
| Unitree G1Humanoid by Unitree | $13.5k | 23 | Official | 805 | 112 | 3 mo ago | Brushless | MuJoCo, Isaac |
| TRLC DK1Arm by The Robot Learning Company | — | 6 | Plugin | 788 | — | 3 mo ago | Damiao, 3× Damiao DM4340 + 4× Damiao DM4310 (follower, incl. gripper) | — |
| ToddlerBotHumanoid by Stanford | $6k | 30 | — | 763 | — | 2 mo ago | Dynamixel, 6× Dynamixel XC330-T288 | MuJoCo |
| Koch v1.1Arm by Jess Moss / Alexander Koch | $199–$477 | 5 | Official | 731 | 766 | 25 mo ago | Dynamixel, 2× Dynamixel XL430-W250-T (follower) | MuJoCo |
| OMXArm by ROBOTIS | $250–$299 | 5 | Official | 662 | 732 | 1 mo ago | Dynamixel, 3× Dynamixel XL430-W250-T (follower) | — |
| ElRobotArm by Norma Core | $220 | 7 | — | 641 | — | 1 mo ago | Feetech, 8× Feetech STS3215 (12V, follower) | — |
| TidyBot++Mobile base by Stanford | $5k–$6k | — | — | 616 | — | 10 mo ago | Brushless, 8× CTRE Kraken X60 | MuJoCo |
| ORCA HandHand by ORCA Dexterity | $3.5k–$4.5k | 17 | — | 590 | — | 1 mo ago | Dynamixel, 16× Dynamixel XC330-T288 (fingers) | — |
| K-BotHumanoid by K-Scale Labs | $9.0k | 20 | — | 391 | — | 11 mo ago | QDD, 4× RobStride 04 | MuJoCo, Isaac |
| GELLOLeader arm by Philipp Wu (UC Berkeley) | $300 | 7 | Plugin | 337 | — | 6 mo ago | Dynamixel, 7× Dynamixel XL330-M288-T | — |
| SAM ArmArm by SimpleAutomation community | $300 | 6 | Fork | 322 | — | 22 mo ago | Feetech, Feetech STS3215 | — |
| Nextis AIRA 3DArm by Nextis | $2.2k–$5.7k | 6 | Plugin | 260 | — | 7 mo ago | Damiao, 2× Damiao J8009P | — |
| RUKAHand by NYU | $1.3k | 15 | — | 198 | — | 14 mo ago | Dynamixel, 3× Dynamixel XM430-W210-T | — |
| SO-ARM Parallel Gripper (Robonine)Gripper by Robonine | $70 | 1 | — | 175 | — | 2 mo ago | Feetech, 1× Feetech STS3215 (12V) | — |
| LEAP Hand v1Hand by CMU | $1.8k | 16 | — | 174 | — | 12 mo ago | Dynamixel, 16× Dynamixel XC330-M288-T (Full v1) | MuJoCo, Isaac |
| PincOpenGripper by Pollen Robotics | — | — | Plugin | 161 | — | 4 mo ago | Feetech, 1× Feetech STS3215 | — |
| Franka Research 3Arm by Franka Robotics | — | 7 | Fork | 145 | 529 | 13 mo ago | — | MuJoCo |
| OpenArm MiniLeader arm by pkooij (community) | — | 7 | Official | 132 | — | 7 mo ago | Feetech, 8× Feetech STS3215-C046 (7.4 V, 1:147), incl. gripper | — |
| Stretch 3Mobile manipulator by Hello Robot | $24.9k | — | Fork | 126 | — | 1 mo ago | — | — |
| Moss v1Arm by Jess Moss | $159 | 5 | Fork | 88 | 84 | 20 mo ago | Feetech, 6× Feetech STS3215 (5 arm joints + gripper) | — |
| Finger TrackerTeleop device by max-titov | — | 16 | — | 82 | — | 19 mo ago | — | — |
| Reachy 2Humanoid by Pollen Robotics | — | 17 | Official | 69 | 5 | 11 mo ago | —, 4× Orbita 2D (shoulders and elbows) | MuJoCo, Gazebo |
| AB-SO-BOTOther by Mr-C4T | — | — | — | 68 | — | 2 mo ago | — | — |
| EarthRover Mini PlusMobile base by FrodoBots | $349 | — | Official | 64 | 8 | 1 mo ago | — | — |
| PingTi ArmArm by nomorewzx | $261.09 | 5 | Plugin | 56 | — | 10 mo ago | Feetech, 2× Feetech STS3250 (paired shoulder lift) | — |
| Meta Quest (WebXR teleop)Teleop device by Meta / community | — | — | Plugin | 55 | — | 4 mo ago | — | — |
| Bracket Bot (capstone)Mobile base by BracketBotCapstone | — | — | — | 54 | — | 16 mo ago | — | — |
| AgileX PiPERArm by AgileX Robotics | $2.0k | 6 | Plugin | 39 | 529 | 5 mo ago | — | — |
| Universal Robots UR5eArm by Universal Robots | — | 6 | Plugin | 36 | 555 | 8 mo ago | — | MuJoCo |
| UFACTORY xArmArm by UFACTORY | — | — | Plugin | 24 | 226 | 5 mo ago | — | — |
| PICO 4 (teleop)Teleop device by PICO / Xense Robotics | — | — | Plugin | 13 | — | 1 mo ago | — | — |
| CamBotArm by open-thought | — | 6 | — | 12 | — | 7 mo ago | Feetech, 3× Feetech STS3215-C001 7.4V (1:345) | — |
| SO101 Parallel Gripper (ggao50)Gripper by ggao50 | — | — | — | 12 | — | 10 mo ago | — | — |
| ARX X5Arm by ARX Robotics | — | 6 | Plugin | 10 | — | 5 mo ago | — | — |
| SO-ARM107Arm by ajinkyagorad | — | 6 | Fork | 7 | — | 19 mo ago | Feetech, 7× Feetech STS3215 per leader or follower (including gripper) | — |
| WidowX AIArm by Trossen Robotics | $4.5k | 6 | Plugin | 7 | 73 | 3 mo ago | QDD | — |
| ugo Pro R&DMobile manipulator by ugo | — | — | Plugin | 6 | — | 6 mo ago | — | — |
| HEXFELLOW devicesOther by HEXFELLOW | — | — | Plugin | 3 | — | 7 mo ago | — | — |
| Force Dimension omega.7Teleop device by Force Dimension | — | 6 | Plugin | 0 | — | 3 mo ago | — | — |
| Haply Inverse3Teleop device by Haply | — | — | Plugin | 0 | — | 3 mo ago | — | — |
| Hiwonder NexArmArm by Hiwonder | — | 5 | Plugin | 0 | — | 3 mo ago | Servo, 2x HX-12H per follower | — |
| YAMArm by I2RT | $3.0k | 6 | Plugin | 0 | 223 | 1 mo ago | Damiao | — |
| Lebai LM seriesArm by Lebai Robotics | — | 6 | — | 0 | — | 9 mo ago | — | — |
| 3Dconnexion SpaceMouseTeleop device by 3Dconnexion | $179 | 6 | Plugin | 0 | — | 1 mo ago | — | — |
| StarAI CelloArm by FashionStar | $1.4k | 6 | Plugin | 0 | — | 12 mo ago | Servo, 3× FashionStar RX18-U100H-M | — |
| StarAI ViolaArm by FashionStar | $459 | 6 | Plugin | 0 | — | 12 mo ago | Servo, 2× FashionStar RX8-U50H-M | — |
| Asimov 1Humanoid by Menlo Research | $20k | 25 | — | — | — | — | — | MuJoCo |
| Homunculus glove & armTeleop device by The Robot Studio | — | — | Official | shared | — | 5 mo ago | — | — |
| LeRobot HumanoidBiped by Hugging Face | $2.6k | 12 | Plugin | — | — | — | QDD, 2× RobStride 00 (torso) | MuJoCo |
| MicroduckBiped by Pollen Robotics | $399 | 15 | — | — | — | — | — | MuJoCo |
| pgripperGripper by Norma Core | — | 1 | — | shared | — | 1 mo ago | Feetech, 1× ST3215 serial bus servo | — |
| OpenArm 2.0Arm by Enactic | — | 7 | Official | shared | — | — | Damiao, 2× Damiao DM8009 (shoulder) | MuJoCo, Isaac, Genesis |
| PiperMateLeader arm by FashionStar | — | 6 | Plugin | — | — | — | Servo, FashionStar RP6-U15H-M UART servos | — |
| reBot B601-DMArm by Seeed Studio | — | 6 | Official | — | 71 | — | Damiao, 4× Damiao DM4310(V4) | Isaac |
| OMYArm by ROBOTIS | $14.4k | 6 | Plugin | shared | — | 1 mo ago | Dynamixel, 2× DYNAMIXEL-Y YM080-230-A099-RH (F3M joints 1-2) | — |
| SO-100Arm by The Robot Studio | $123 | 5 | Official | shared | 3.5k | 1 mo ago | Feetech, 6× Feetech STS3215 (7.4 V) | MuJoCo |
| SO-ARM Compliant GripperGripper by The Robot Studio | — | — | — | shared | — | 1 mo ago | — | — |
| SO-ARM 102Arm by Robonine | — | 5 | — | — | — | — | Feetech, Follower: 2× Feetech STS3235, 2× STS3250, 2× STS3215 (12 V, including gripper) | — |
Nothing matches those filters.
Stars and dataset counts are snapshots; see each hardware page for its fetch date. Missing dates mean freshness is unknown. "HF sets" counts LeRobot-tagged datasets on the Hugging Face Hub whose name mentions the robot, so it under-counts robots people don't name in their dataset ids. Entries with a hollow dot next to the name are drafts that haven't had a second check yet. If a number is off, tell us.