Pick a robot you can actually build, buy and train on.
69 open-source arms, bases, humanoids, hands and teleop rigs. 15 are supported upstream in LeRobot and 50 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 | — | 30 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 | $122–$230 | 5 | Official | 7.5k | 8.0k | this month | 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 | 2 mo ago | Feetech, 17× Feetech STS3215 (12V) | MuJoCo, ManiSkill |
| Mobile ALOHAMobile manipulator by Stanford / Trossen Robotics | $32k | 12 | Plugin | 4.5k | — | 27 mo ago | Dynamixel | — |
| Open Duck MiniBiped by apirrone | $450 | 14 | — | 4.1k | — | 7 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 | — | 24 mo ago | Dynamixel, 2× Dynamixel XL430-W250 | MuJoCo |
| OpenArm v1Arm by Enactic | $3.3k–$6.5k | 7 | Official | 3.3k | 444 | this month | Damiao, 2× Damiao DM8009 (shoulder) | MuJoCo, Isaac, Genesis |
| ALOHA 2 (Stationary)Bimanual by Trossen Robotics / Google DeepMind | $33k | 12 | Plugin | 2.3k | 513 | 29 mo ago | Dynamixel | MuJoCo |
| Berkeley Humanoid LiteHumanoid by UC Berkeley | $4.3k–$5k | 20 | — | 1.9k | — | 6 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 | — | 4 mo ago | — | — |
| Reachy MiniOther by Pollen Robotics / Hugging Face | $399–$499 | 9 | — | 1.5k | — | this month | Dynamixel, 6× Dynamixel XL330-M288-T (Stewart platform head) | — |
| LeKiwiMobile manipulator by SIGRobotics UIUC | $174–$525 | 8 | Official | 1.4k | 649 | 1 mo ago | Feetech, 3× Feetech STS3215 (wheels) | MuJoCo, ManiSkill |
| Unitree Go2Quadruped by Unitree | $1.6k | 12 | — | 1.4k | — | this month | Brushless, 12× Unitree joint motor (~45 N·m max, knee) | MuJoCo, Isaac |
| AlohaMiniMobile manipulator by liyiteng | $600 | 10 | Fork | 1.1k | — | 2 mo ago | Feetech, 16× Feetech STS3215 (12V) | — |
| BamBotMobile manipulator by timqian | $300 | 10 | Fork | 972 | — | 14 mo ago | Feetech, 15× Feetech STS3215 (12V) | — |
| HopeJRHumanoid by The Robot Studio | $3k | 7 | Official | 826 | 1 | 4 mo ago | Feetech, 1× Feetech SM8512BL + 6× Feetech STS3250 (arm) | — |
| Unitree G1Humanoid by Unitree | $13.5k | 23 | Official | 805 | 112 | 2 mo ago | Brushless | MuJoCo, Isaac |
| TRLC DK1Arm by The Robot Learning Company | — | 6 | Plugin | 788 | — | 2 mo ago | Damiao, 3× Damiao DM4340 + 4× Damiao DM4310 (follower, incl. gripper) | — |
| ToddlerBotHumanoid by Stanford | $6k | 30 | — | 763 | — | 1 mo ago | Dynamixel, 6× Dynamixel XC330-T288 | MuJoCo |
| Koch v1.1Arm by Jess Moss / Alexander Koch | $199–$477 | 5 | Official | 731 | 766 | 24 mo ago | Dynamixel, 2× Dynamixel XL430-W250-T (follower) | MuJoCo |
| OMXArm by ROBOTIS | $250–$299 | 5 | Official | 662 | 732 | this month | Dynamixel, 3× Dynamixel XL430-W250-T (follower) | — |
| ElRobotArm by Norma Core | $220 | 7 | — | 641 | — | this month | Feetech, 8× Feetech STS3215 (12V, follower) | — |
| TidyBot++Mobile base by Stanford | $5k–$6k | — | — | 616 | — | 9 mo ago | Brushless, 8× CTRE Kraken X60 | MuJoCo |
| ORCA HandHand by ORCA Dexterity | $3.5k–$4.5k | 17 | — | 590 | — | this month | Dynamixel, 16× Dynamixel XC330-T288 (fingers) | — |
| K-BotHumanoid by K-Scale Labs | $9.0k | 20 | — | 391 | — | 10 mo ago | QDD, 4× RobStride 04 | MuJoCo, Isaac |
| GELLOLeader arm by Philipp Wu (UC Berkeley) | $300 | 7 | Plugin | 337 | — | 5 mo ago | Dynamixel, 7× Dynamixel XL330-M288-T | — |
| SAM ArmArm by SimpleAutomation community | $300 | 6 | Fork | 322 | — | 21 mo ago | Feetech, Feetech STS3215 | — |
| Nextis AIRA 3DArm by Nextis | $2.2k–$5.7k | 6 | Plugin | 260 | — | 6 mo ago | Damiao, 2× Damiao J8009P | — |
| RUKAHand by NYU | $1.3k | 15 | — | 198 | — | 13 mo ago | Dynamixel, 3× Dynamixel XM430-W210-T | — |
| SO-ARM Parallel Gripper (Robonine)Gripper by Robonine | $70 | 1 | — | 175 | — | 1 mo ago | Feetech, 1× Feetech STS3215 (12V) | — |
| LEAP HandHand by CMU | $2k | 16 | — | 174 | — | 11 mo ago | Dynamixel, 16× Dynamixel XC330 | MuJoCo, Isaac |
| PincOpenGripper by Pollen Robotics | $28 | — | Plugin | 161 | — | 3 mo ago | — | — |
| Franka Research 3Arm by Franka Robotics | — | 7 | Fork | 145 | 529 | 12 mo ago | Brushless | MuJoCo, Isaac |
| Stretch 3Mobile manipulator by Hello Robot | $24.9k | — | Fork | 126 | — | this month | — | — |
| Moss v1Arm by Jess Moss | $159–$288 | 5 | Fork | 88 | 84 | 19 mo ago | Feetech, 6× Feetech STS3215 | — |
| Finger TrackerTeleop device by max-titov | — | 16 | — | 82 | — | 18 mo ago | — | — |
| Reachy 2Humanoid by Pollen Robotics | — | 20 | Official | 69 | 5 | 10 mo ago | — | MuJoCo, Gazebo |
| AB-SO-BOTBimanual by Mr-C4T | — | 10 | Official | 68 | — | 1 mo ago | Feetech | — |
| EarthRover Mini PlusMobile base by FrodoBots | — | — | Official | 64 | 8 | this month | — | — |
| PingTi ArmArm by nomorewzx | $261–$390 | 5 | Fork | 56 | — | 9 mo ago | Feetech, Feetech STS3215 | — |
| Meta Quest (WebXR teleop)Teleop device by Meta / community | $300–$500 | — | Plugin | 55 | — | 3 mo ago | — | — |
| Bracket BotMobile base by Bracket Robotics | — | — | — | 54 | — | 15 mo ago | — | — |
| AgileX PiPERArm by AgileX Robotics | $2.5k | 6 | Plugin | 39 | 529 | 4 mo ago | Brushless | MuJoCo, Isaac |
| Universal Robots UR5eArm by Universal Robots | — | 6 | Plugin | 36 | 555 | 7 mo ago | Brushless | MuJoCo, Isaac |
| UFACTORY xArmArm by UFACTORY | — | 7 | Plugin | 24 | 226 | 4 mo ago | Brushless | — |
| PICO 4 (teleop)Teleop device by PICO / xensedyl | — | — | Plugin | 13 | — | this month | — | — |
| CamBotArm by open-thought | $120 | 6 | — | 12 | — | 6 mo ago | Feetech | — |
| SO101 Parallel Gripper (ggao50)Gripper by ggao50 | — | — | — | 12 | — | 9 mo ago | — | — |
| ARX X5Arm by ARX Robotics | — | 6 | Plugin | 10 | — | 4 mo ago | — | — |
| SO-ARM107Arm by ajinkyagorad | $140–$260 | 6 | Fork | 7 | — | 18 mo ago | Feetech, 7× Feetech STS3215 | — |
| WidowX AIArm by Trossen Robotics | — | 6 | Plugin | 7 | 73 | 2 mo ago | Dynamixel | — |
| ugo ProMobile manipulator by ugo | — | — | Plugin | 6 | — | 5 mo ago | — | — |
| HEXFELLOW devicesOther by HEXFELLOW | — | — | Plugin | 3 | — | 6 mo ago | — | — |
| Force Dimension omega.7Teleop device by Force Dimension | — | 7 | Plugin | 0 | — | 2 mo ago | — | — |
| Haply Inverse3Teleop device by Haply | — | — | Plugin | 0 | — | 2 mo ago | — | — |
| Hiwonder NexArmArm by Hiwonder | — | — | Plugin | 0 | — | 2 mo ago | — | — |
| YAMArm by I2RT | — | 6 | Plugin | 0 | 223 | this month | — | — |
| Lebai LM seriesArm by Lebai Robotics | — | 6 | Plugin | 0 | — | 8 mo ago | — | — |
| 3Dconnexion SpaceMouseTeleop device by 3Dconnexion | $130–$300 | — | Plugin | 0 | — | this month | — | — |
| StarAI CelloArm by FashionStar | — | 6 | Plugin | 0 | — | 11 mo ago | Servo | — |
| StarAI ViolaArm by FashionStar | — | 6 | Plugin | 0 | — | 11 mo ago | Servo | — |
| Homunculus glove & armTeleop device by The Robot Studio | — | — | Official | shared | — | 4 mo ago | — | — |
| pgripperGripper by Norma Core | — | — | — | shared | — | this month | — | — |
| OpenArm MiniLeader arm by Enactic | — | 7 | Official | shared | — | this month | — | — |
| PiperMateLeader arm by FashionStar | — | — | Plugin | — | — | — | — | — |
| reBot B601-DMArm by Seeed Studio | — | 6 | Official | — | 71 | — | Damiao | — |
| OMYArm by ROBOTIS | — | 6 | Plugin | shared | — | this month | Dynamixel | — |
| SO-100Arm by The Robot Studio | $122–$230 | 5 | Official | shared | 3.5k | this month | Feetech, 6× Feetech STS3215 | MuJoCo |
| SO-ARM Compliant GripperGripper by The Robot Studio | — | — | Official | shared | — | this month | — | — |
Nothing matches those filters.
Stars and dataset counts fetched 2026-09-15. "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.