Vector-Wangel/XLeRobot

What it solves

XLeRobot provides a low-cost, open-source hardware and software platform for embodied AI, enabling users to build a dual-arm mobile household robot capable of general manipulation tasks without the need for expensive industrial equipment.

How it works

It combines 3D-printed components with affordable electronics to create a mobile robot. The project integrates with existing frameworks like LeRobot and supports various control methods, including keyboard, Xbox controllers, Switch Joy-Cons, and VR (Quest 3). It also provides a simulation environment using MuJoCo and 3DGS for testing and training before real-world deployment, and includes tutorials for Vision-Language-Action (VLA) training and Reinforcement Learning (RL) sim-to-real deployment.

Who it’s for

Developers, researchers, and hobbyists interested in robotics and embodied AI who want a practical, accessible platform for experimenting with autonomous household tasks and general manipulation.

Highlights

• Low Cost: Basic setup starts from approximately $660.
• Fast Assembly: Total assembly time is under 4 hours.
• Flexible Control: Supports Bluetooth control via Xbox, Joy-Con, or VR for zero-latency teleoperation.
• Simulation-First: Includes MuJoCo simulation and a browser-based interface for rapid prototyping.
• VLA Support: Provides tutorials for training Vision-Language-Action models for robot control.