Open-source robot hardware, compared
Pick a robot you can actually build, buy and train on.
69 arms, bases, humanoids, hands and teleop devices from the LeRobot ecosystem and beyond. 15 are supported upstream in LeRobot; 50 publish their hardware files. Compare price, motors, DOF, simulator support and how alive the repo is — then follow the links to buy or print.
| Hardware | Type | Price | DOF | Motors | LeRobot | Sim | Stars | HF sets | Last push |
|---|---|---|---|---|---|---|---|---|---|
| Dummy RobotZhihui Peng | Arm | — | 6 | Other · 6× closed-loop stepper motors (42- and 20-size, custom Ctrl-Step CAN drivers) with harmonic reducers | — | — | 15.5k | — | 30 mo |
| SO-101The Robot Studio | Arm | $122–$230 | 5 | Feetech · 6× Feetech STS3215 (7.4 V or 12 V) | Official | MuJoCo, Genesis, ManiSkill | 7.5k | 8.0k | <1 mo |
| XLeRobotVector Wang | Mobile manipulator | $660–$1k | 15 | Feetech · 17× Feetech STS3215 (12V) | Fork | MuJoCo, ManiSkill | 5.5k | 131 | 2 mo |
| Mobile ALOHAStanford / Trossen Robotics | Mobile manipulator | $32k | 12 | Dynamixel | Plugin | — | 4.5k | — | 27 mo |
| Open Duck Miniapirrone | Biped | $450 | 14 | Feetech · 14× Feetech STS3215 (7.4V) | — | MuJoCo | 4.1k | — | 7 mo |
| Low-Cost Robot Arm (Koch v1.0)Alexander Koch | Arm | $250 | 5 | Dynamixel · 2× Dynamixel XL430-W250 | Fork | MuJoCo | 3.4k | — | 24 mo |
| OpenArm v1Enactic | Arm | $3.3k–$6.5k | 7 | Damiao · 2× Damiao DM8009 (shoulder) | Official | MuJoCo, Isaac, Genesis | 3.3k | 444 | <1 mo |
| ALOHA 2 (Stationary)Trossen Robotics / Google DeepMind | Bimanual | $33k | 12 | Dynamixel | Plugin | MuJoCo | 2.3k | 513 | 29 mo |
| Berkeley Humanoid LiteUC Berkeley | Humanoid | $4.3k–$5k | 20 | Brushless · 10× 6512 actuator (MAD Components M6C12 150KV BLDC + 3D-printed cycloidal) | — | MuJoCo, Isaac | 1.9k | — | 6 mo |
| UMI handheld gripperColumbia / Stanford (Chi et al.) | Teleop device | $371 | — | — | — | — | 1.6k | — | 4 mo |
| Reachy MiniPollen Robotics / Hugging Face | Other | $399–$499 | 9 | Dynamixel · 6× Dynamixel XL330-M288-T (Stewart platform head) | — | — | 1.5k | — | <1 mo |
| LeKiwiSIGRobotics UIUC | Mobile manipulator | $174–$525 | 8 | Feetech · 3× Feetech STS3215 (wheels) | Official | MuJoCo, ManiSkill | 1.4k | 649 | 1 mo |
| Unitree Go2Unitree | Quadruped | $1.6k | 12 | Brushless · 12× Unitree joint motor (~45 N·m max, knee) | — | MuJoCo, Isaac | 1.4k | — | <1 mo |
| AlohaMiniliyiteng | Mobile manipulator | $600 | 10 | Feetech · 16× Feetech STS3215 (12V) | Fork | — | 1.1k | — | 2 mo |
| BamBottimqian | Mobile manipulator | $300 | 10 | Feetech · 15× Feetech STS3215 (12V) | Fork | — | 972 | — | 14 mo |
| HopeJRThe Robot Studio | Humanoid | $3k | 7 | Feetech · 1× Feetech SM8512BL + 6× Feetech STS3250 (arm) | Official | — | 826 | 1 | 4 mo |
| Unitree G1Unitree | Humanoid | $13.5k | 23 | Brushless | Official | MuJoCo, Isaac | 805 | 112 | 2 mo |
| TRLC DK1The Robot Learning Company | Arm | — | 6 | Damiao · 3× Damiao DM4340 + 4× Damiao DM4310 (follower, incl. gripper) | Plugin | — | 788 | — | 2 mo |
| ToddlerBotStanford | Humanoid | $6k | 30 | Dynamixel · 6× Dynamixel XC330-T288 | — | MuJoCo | 763 | — | 1 mo |
| Koch v1.1Jess Moss / Alexander Koch | Arm | $199–$477 | 5 | Dynamixel · 2× Dynamixel XL430-W250-T (follower) | Official | MuJoCo | 731 | 766 | 24 mo |
| OMXROBOTIS | Arm | $250–$299 | 5 | Dynamixel · 3× Dynamixel XL430-W250-T (follower) | Official | — | 662 | 732 | <1 mo |
| ElRobotNorma Core | Arm | $220 | 7 | Feetech · 8× Feetech STS3215 (12V, follower) | — | — | 641 | — | <1 mo |
| TidyBot++Stanford | Mobile base | $5k–$6k | — | Brushless · 8× CTRE Kraken X60 | — | MuJoCo | 616 | — | 9 mo |
| ORCA HandORCA Dexterity | Hand | $3.5k–$4.5k | 17 | Dynamixel · 16× Dynamixel XC330-T288 (fingers) | — | — | 590 | — | <1 mo |
| K-BotK-Scale Labs | Humanoid | $9.0k | 20 | QDD · 4× RobStride 04 | — | MuJoCo, Isaac | 391 | — | 10 mo |
| GELLOPhilipp Wu (UC Berkeley) | Leader arm | $300 | 7 | Dynamixel · 7× Dynamixel XL330-M288-T | Plugin | — | 337 | — | 5 mo |
| SAM ArmSimpleAutomation community | Arm | $300 | 6 | Feetech · Feetech STS3215 | Fork | — | 322 | — | 21 mo |
| Nextis AIRA 3DNextis | Arm | $2.2k–$5.7k | 6 | Damiao · 2× Damiao J8009P | Plugin | — | 260 | — | 6 mo |
| RUKANYU | Hand | $1.3k | 15 | Dynamixel · 3× Dynamixel XM430-W210-T | — | — | 198 | — | 13 mo |
| SO-ARM Parallel Gripper (Robonine)Robonine | Gripper | $70 | 1 | Feetech · 1× Feetech STS3215 (12V) | — | — | 175 | — | 1 mo |
| LEAP HandCMU | Hand | $2k | 16 | Dynamixel · 16× Dynamixel XC330 | — | MuJoCo, Isaac | 174 | — | 11 mo |
| PincOpenPollen Robotics | Gripper | $28 | — | — | Plugin | — | 161 | — | 3 mo |
| Franka Research 3Franka Robotics | Arm | — | 7 | Brushless | Fork | MuJoCo, Isaac | 145 | 529 | 12 mo |
| Stretch 3Hello Robot | Mobile manipulator | $24.9k | — | — | Fork | — | 126 | — | <1 mo |
| Moss v1Jess Moss | Arm | $159–$288 | 5 | Feetech · 6× Feetech STS3215 | Fork | — | 88 | 84 | 19 mo |
| Finger Trackermax-titov | Teleop device | — | 16 | — | — | — | 82 | — | 18 mo |
| Reachy 2Pollen Robotics | Humanoid | — | 20 | — | Official | MuJoCo, Gazebo | 69 | 5 | 10 mo |
| AB-SO-BOTMr-C4T | Bimanual | — | 10 | Feetech | Official | — | 68 | — | 1 mo |
| EarthRover Mini PlusFrodoBots | Mobile base | — | — | — | Official | — | 64 | 8 | <1 mo |
| PingTi Armnomorewzx | Arm | $261–$390 | 5 | Feetech · Feetech STS3215 | Fork | — | 56 | — | 9 mo |
| Meta Quest (WebXR teleop)Meta / community | Teleop device | $300–$500 | — | — | Plugin | — | 55 | — | 3 mo |
| Bracket BotBracket Robotics | Mobile base | — | — | — | — | — | 54 | — | 15 mo |
| AgileX PiPERAgileX Robotics | Arm | $2.5k | 6 | Brushless | Plugin | MuJoCo, Isaac | 39 | 529 | 4 mo |
| Universal Robots UR5eUniversal Robots | Arm | — | 6 | Brushless | Plugin | MuJoCo, Isaac | 36 | 555 | 7 mo |
| UFACTORY xArmUFACTORY | Arm | — | 7 | Brushless | Plugin | — | 24 | 226 | 4 mo |
| PICO 4 (teleop)PICO / xensedyl | Teleop device | — | — | — | Plugin | — | 13 | — | <1 mo |
| CamBotopen-thought | Arm | $120 | 6 | Feetech | — | — | 12 | — | 6 mo |
| SO101 Parallel Gripper (ggao50)ggao50 | Gripper | — | — | — | — | — | 12 | — | 9 mo |
| ARX X5ARX Robotics | Arm | — | 6 | — | Plugin | — | 10 | — | 4 mo |
| SO-ARM107ajinkyagorad | Arm | $140–$260 | 6 | Feetech · 7× Feetech STS3215 | Fork | — | 7 | — | 18 mo |
| WidowX AITrossen Robotics | Arm | — | 6 | Dynamixel | Plugin | — | 7 | 73 | 2 mo |
| ugo Prougo | Mobile manipulator | — | — | — | Plugin | — | 6 | — | 5 mo |
| HEXFELLOW devicesHEXFELLOW | Other | — | — | — | Plugin | — | 3 | — | 6 mo |
| Force Dimension omega.7Force Dimension | Teleop device | — | 7 | — | Plugin | — | 0 | — | 2 mo |
| Haply Inverse3Haply | Teleop device | — | — | — | Plugin | — | 0 | — | 2 mo |
| Hiwonder NexArmHiwonder | Arm | — | — | — | Plugin | — | 0 | — | 2 mo |
| YAMI2RT | Arm | — | 6 | — | Plugin | — | 0 | 223 | <1 mo |
| Lebai LM seriesLebai Robotics | Arm | — | 6 | — | Plugin | — | 0 | — | 8 mo |
| 3Dconnexion SpaceMouse3Dconnexion | Teleop device | $130–$300 | — | — | Plugin | — | 0 | — | <1 mo |
| StarAI CelloFashionStar | Arm | — | 6 | Servo | Plugin | — | 0 | — | 11 mo |
| StarAI ViolaFashionStar | Arm | — | 6 | Servo | Plugin | — | 0 | — | 11 mo |
| Homunculus glove & armThe Robot Studio | Teleop device | — | — | — | Official | — | via hopejr | — | 4 mo |
| pgripperNorma Core | Gripper | — | — | — | — | — | via elrobot | — | <1 mo |
| OpenArm MiniEnactic | Leader arm | — | 7 | — | Official | — | via openarm | — | <1 mo |
| PiperMateFashionStar | Leader arm | — | — | — | Plugin | — | — | — | — |
| reBot B601-DMSeeed Studio | Arm | — | 6 | Damiao | Official | — | — | 71 | — |
| OMYROBOTIS | Arm | — | 6 | Dynamixel | Plugin | — | via robotis-omx | — | <1 mo |
| SO-100The Robot Studio | Arm | $122–$230 | 5 | Feetech · 6× Feetech STS3215 | Official | MuJoCo | via so-101 | 3.5k | <1 mo |
| SO-ARM Compliant GripperThe Robot Studio | Gripper | — | — | — | Official | — | via so-101 | — | <1 mo |
Nothing matches those filters. .
Stars and dataset counts fetched 2026-09-15. "HF sets" is an approximate count of LeRobot-tagged datasets whose name mentions the robot; it under-counts robots that people don't name in their dataset ids. Rows with a hollow dot ◌ are drafts awaiting a second human check — tell us if a number is off.