LeRobot documentation
Third-Party Robots & Teleoperators
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 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_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. |
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. |
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. |
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. |
Service, Mobile & Utility Robots
| Project | Description |
|---|---|
| lerobot-robot-ugo-pro | Plugin for the ugo Pro dual-arm service robot from ugo. |
| 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. |
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. |
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 |
|---|---|
| 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. |
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. |
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!
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