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SO-101 / LeRobot arms

The SO-101 is an open 3D-printable tabletop arm. One follower costs $121.94 in US parts per The Robot Studio BOM ($229.88 for a leader + follower pair), and it is the default arm in Hugging Face's LeRobot.

Open SO-100/SO-101 tabletop arm builds on LeRobot: teleop, livestream, mobile bases and agent control.

It works with LeRobot teleop, dataset recording and policy training. The Robot Studio README says the arms are designed to work with LeRobot. Try a free URDF/MuJoCo/Isaac model before you buy parts.

Open the SO-101 build card

SO-101 simulation models · Parts list and cost · Best arm under $200

16 builds

Run SmolVLA on an SO-101 so it follows plain-English tasks: media published by Hugging Face — SmolVLA blog

SO-101 / LeRobot: Run SmolVLA on an SO-101 so it follows plain-English tasks

Arm · Hard · $230

Teach an SO-101 arm to pick and place with LeRobot: media published by Hugging Face LeRobot docs

SO-101 / LeRobot: Teach an SO-101 arm to pick and place with LeRobot

Arm · Medium · $230

MOSS rover with its orange arm raised over the bin

MOSS: a 3D-printed rover that picks up litter

Wheeled · Hard · $460

Try NVIDIA Isaac GR00T, an open humanoid foundation model: media published by NVIDIA Isaac GR00T

Try NVIDIA Isaac GR00T, an open humanoid foundation model

Humanoid · Hard

Livestream and remote-control your SO-101 arm from a web app: media published by @zerotorobots on X

SO-101 / LeRobot: Livestream and remote-control your SO-101 arm from a web app

Arm · Medium

Build XLeRobot, a dual-arm home robot from about $660: media published by Vector-Wangel/XLeRobot

Build XLeRobot, a dual-arm home robot from about $660

Wheeled · Hard · $660

Build the $100-class SO-101 open-source robot arm: media published by TheRobotStudio/SO-ARM100

SO-101 / LeRobot: Build the $100-class SO-101 open-source robot arm

Arm · Medium · $122

Use a folding phone as a controller for an SO-101 gripper: media published by @lj_ships on X

Use a folding phone as a controller for an SO-101 gripper

Arm · Medium

Let a coding agent drive an SO-101 to paint or draw: media published by @goelankur1996 on X

Let a coding agent drive an SO-101 to paint or draw

Arm · Medium · $122

Fine-tune Physical Intelligence's π0 model for your robot: media published by Physical Intelligence — π0 blog

Fine-tune Physical Intelligence's π0 model for your robot

Arm · Hard

Put an SO-101 arm on wheels with LeKiwi: media published by SIGRobotics-UIUC/LeKiwi

Put an SO-101 arm on wheels with LeKiwi

Wheeled · Hard

TheRobotStudio on GitHub

Explore HopeJR, The Robot Studio's open humanoid and hand

Humanoid · Hard

timqian on GitHub

Play with Bambot, a ~$300 open-source humanoid you can try in the browser

Humanoid · Medium · $300

Train a Diffusion Policy on your own robot demos: media published by Diffusion Policy repo (Chi et al.)

Train a Diffusion Policy on your own robot demos

Sim · Medium

Build the Koch v1.1 Dynamixel arm for imitation learning: media published by jess-moss/koch-v1-1

Build the Koch v1.1 Dynamixel arm for imitation learning

Arm · Medium · $199

Teleoperate two arms at once with ALOHA: media published by ALOHA project page (Zhao et al.)

ALOHA: Teleoperate two arms at once with ALOHA

Arm · Hard