LeRobot documentation
Third-Party Robots & Teleoperators
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Third-Party Robots & Teleoperators
The LeRobot ecosystem extends far beyond its officially supported hardware. Thanks to LeRobot’s plugin architecture, the community has built integrations for a wide range of robot arms and teleoperation devices — from industrial manipulators and dexterous hands to affordable hobbyist platforms, VR headsets, haptic devices, and full arm-plus-teleoperator kits. This page showcases community-maintained integrations you can use for teleoperation, data collection, and policy deployment.
These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support.
Drop-in plugins are auto-discovered by package name: LeRobot imports any installed package prefixed with lerobot_robot_ or lerobot_teleoperator_. Once installed, reference the type the plugin registers (see its README — it may differ from the package name) directly from any LeRobot command:
pip install lerobot_robot_<name> lerobot_teleoperator_<name>
lerobot-record \
--robot.type=<robot_name> \
--teleop.type=<teleoperator_name> \
--dataset.repo_id=${HF_USER}/my-dataset \
--dataset.num_episodes=5⚠️ marks projects that are forks/extensions of LeRobot. They may require custom setup rather than working with an unmodified install. All other entries are drop-in plugins.
Industrial & Collaborative Arms
| Project | Description |
|---|---|
| lerobot-robot-xarm | Plugin for the xArm collaborative arm series from UFACTORY. |
| lerobot_robot_ufactory ⚠️ | Official package for the xArm series from UFACTORY. It wraps LeRobot in its own record, teleoperate, and eval commands and supports GELLO, Pika, UMI, and SpaceMouse teleoperation. |
| lerobot_lebai | Plugin for the six-axis collaborative arms from Lebai. |
| LeFranX ⚠️ | LeRobot extension for the Franka research arm, paired with the RobotEra XHand hand for VR teleoperation. |
| lerobot-robot-franka-research3 | Plugin for the Franka Research 3 arm through franky, with joint, Cartesian, and impedance control. A companion plugin pairs it with the BrainCo Revo2 hand. |
Universal Robots UR5e
| Project | Description |
|---|---|
| UR5e-LeRobot ⚠️ | LeRobot extension for the Universal Robots UR5e, with single-arm and bimanual support. |
| lerobot_ur5e_auto ⚠️ | LeRobot extension for a mobile Universal Robots UR5e, adding automated recording at scale with minimal supervision. |
| lerobot_robot_ur5e | Plugin for the Universal Robots UR5e with a Robotiq gripper, over RTDE control. |
Research & Learning Arms
| Project | Description |
|---|---|
| lerobot_trossen | Plugin for the WidowX and ALOHA-style arms from Trossen Robotics. |
| lerobot-robot-galaxea-a1 | Plugin for the A1 6 degrees of freedom arm from Galaxea, controlled through the separately installed Galaxea A1 Runtime, with a matching SO-Leader teleoperator (a modified SO-101 leader arm). |
AgileX Piper
| Project | Description |
|---|---|
| lerobot_robot_piper (AgRobotics Research) | Plugin for the AgileX Piper arm. |
| lerobot_robot_piper (WeGo Robotics) | Plugin for the AgileX Piper arm, with multi-arm teleoperation, safety limits, and GUI tools. |
| lerobot-robot-piper (FashionStar) | Plugin for the AgileX Piper arm over CAN, the companion robot for the PiperMate teleoperator listed under Leader Arms. |
Affordable & Hobbyist Arms
| Project | Description |
|---|---|
| fashionstar-lerobot-robot-cello | Plugin for the StarAI Cello 6+1 degrees of freedom robot arm from FashionStar. |
| fashionstar-lerobot-robot-viola | Plugin for the compact StarAI Viola 6+1 degrees of freedom robot arm from FashionStar, with its matching StarAI Violin teleoperator arm. |
| lerobot_robot_roarm_m3 | Plugin for the Waveshare RoArm-M3 5 degrees of freedom arm with gripper, driven by its onboard ESP32 over serial. |
Hands & Grippers
| Project | Description |
|---|---|
| lerobot-robot-ghand | Plugin for the LEAP V1 KAIZEN hand from Algomatic Dynamics, a 16 degrees of freedom four-finger hand compatible with the LEAP Hand v1. The companion ghand SDK adds webcam hand-tracking teleoperation and MuJoCo simulation. |
| lerobot-robot-revo2-hand | Plugin for the Revo2 dexterous hand from BrainCo, through BrainCo's Python SDK. |
| fastgripper-lerobot | Plugin for FastGripper, a worm-gear parallel gripper for the SO-101 that holds its grip without power. The robot type fastgripper_follower exposes it as a standard 0–100 gripper. |
Service, Mobile & Utility Robots
| Project | Description |
|---|---|
| lerobot-robot-ugo-pro | Plugin for the ugo Pro dual-arm service robot from ugo. |
| lerobot-robot-ugo-nova | Plugin for the ugo Nova wheeled semi-humanoid from ugo, reading joints and cameras and sending joint commands over ROS 2. |
| lerobot-robot-sourccey | Plugin for Sourccey, the open-source dual-arm home robot on a mecanum base from Vulcan Robotics, with its leader-arm teleoperator, a Python SDK, and 2D LiDAR tools. |
| onero_lerobot | Plugin for the SwitchBot Onero H1 wheeled household humanoid, wrapping its ROS 2 SDK as a LeRobot robot. |
| lerobot_robot_lekiwi_pincopen | Plugin for a LeKiwi mobile manipulator with a PincOpen gripper. |
| lerobot-robot-dummy | Plugin simulating a robot for recording without hardware. Useful for debugging ! |
Teleoperators
VR & Motion Controllers
| Project | Description |
|---|---|
| lerobot-teleoperator-teleop | Plugin turning a phone or VR headset into a teleoperator via WebXR, wrapping the open-source teleop library. |
| lerobot-teleoperator-spacemouse | Plugin for the 3Dconnexion SpaceMouse, with inverse kinematics for SO-ARMS robots. |
| vr-teleop-kit | Plugin teleoperating arms from a Meta Quest (WebXR), relying on URDF descriptions for inverse kinematics. |
| lerobot-teleoperator-pico4 | Plugin for the PICO 4 VR headset, with a companion controller-free hand-tracking variant. |
| lerobot-teleoperator-rebot-vr | Plugin from Seeed Studio teleoperating the reBot Arm B601-RS and B601-DM (supported natively in LeRobot) with PICO 4 controllers, in single- or dual-arm mode. |
Leader Arms
| Project | Description |
|---|---|
| lerobot_teleoperator_gello | Plugin for the 7 degrees of freedom GELLO teleoperator. |
| lerobot_teleoperator_yamactiveleader | Plugin for the active YAM teleoperator from I2RT, a bilateral force-feedback arm. |
| lerobot_teleoperator_omy | Plugin for the OMY-L100 6 degrees of freedom teleoperator from ROBOTIS. |
| lerobot-teleoperator-pipermate | Plugin for the PiperMate teleoperator (FashionStar UART servos), driving the AgileX Piper arm. |
| lerobot_teleoperator_openarm_ker | Plugin for the OpenArm KER leader arm from Enactic. It drives the native openarm_follower and bi_openarm_follower. |
| LeRobot-Anything-U-Arm ⚠️ | U-Arm, a low-cost leader arm (from about $60) that teleoperates many commercial arms, with LeRobot teleoperation scripts for SO-100, LeKiwi, and XLeRobot followers (paper). |
Haptic Devices
| Project | Description |
|---|---|
| lerobot_teleoperator_inverse3 | Plugin for the Haply Inverse3 haptic device, adding force-feedback teleoperation. |
| lerobot_teleoperator_omega7 | Plugin for the Force Dimension omega.7 haptic device, adding force-feedback teleoperation. |
Networked & Remote
| Project | Description |
|---|---|
| lerobot-teleoperator-livekit | Plugin receiving teleoperation commands over a LiveKit Portal (WebRTC) for remote control. |
Full Kits (Robot + Teleoperator)
| Project | Description |
|---|---|
| SO-ARM 102 | Next-generation SO-ARM 102 leader–follower kit: parallel gripper, 2× payload and frame stiffness, 67% faster shoulder/elbow joints, and 10% longer reach than SO-ARM 101. LeRobot plugin. |
| lerobot-arx5 | Plugin for the ARX5 arm: lerobot-arx5 robot arm with its lerobot-teleoperator-arx5 teleoperator arm. |
| Nextis-AIRA-3D | Plugin for the 7 degrees of freedom arm from Nextis: robot arm aira_follower and teleoperator arm aira_leader. |
| lerobot_yam | Plugin suite for the YAM arm from I2RT: robot arm yam_follower and teleoperator arm yam_leader. |
| trlc-dk1 | Plugin for the development kit from The Robot Learning Company: single and bimanual arms follower/teleoperator types. |
| hex_lerobot_drivers | Plugin suite for HEXFELLOW devices: robots, teleoperators, and cameras (see Cameras & Sensors). |
| lerobot-robot-nexarm-follower | Plugin for the NexArm from Hiwonder: the robot arm and its matching teleoperator arm. |
| Star-Arm-102 | Plugin for the open-source Star Arm 102 6+1 degrees of freedom arm from FashionStar: lerobot-robot-stararm102 robot arm (102-FL) with its lerobot-teleoperator-stararm102 teleoperator arm (102-LD, or the pose-holding 102-HD). |
| lerobot_robot_elrobot | Plugin for the 3D-printed 7+1 degrees of freedom ElRobot from NormaCore: robot arm elrobot_follower and teleoperator arm elrobot_leader. |
| lerobot-robot-axol | Plugin for the Almond Axol dual-arm robot: robot axol, VR teleoperator axol_vr (WebXR), a ZED camera, and axol_mantis for the handheld Mantis demonstration rigs. |
ROS 2 Bridges
| Project | Description |
|---|---|
| leros2 | Plugin bridging ROS 2 topics and actions to LeRobot robots and teleoperators. |
| lerobot_robot_ros2_zenoh | Plugin bridging ROS 2 robots to LeRobot over Zenoh pub/sub transport. |
| lerobot-robot-rosetta | Plugin from the Rosetta project exposing a ROS 2 robot through topics declared in a contract YAML, with a matching teleoperator plugin. |
Contributing
Built your own LeRobot hardware integration? The plugin system makes it straightforward to add new robots and teleoperators — check out the Bring Your Own Hardware guide to get started, and share your project with the community!
Update on GitHub