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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 to affordable hobbyist platforms, VR headsets, haptic devices, and full arm-plus-leader kits. This page showcases community-maintained integrations you can use for teleoperation, data collection, and policy deployment.
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.
> [!IMPORTANT]
> These projects are developed and maintained by third parties. Please refer to each repository for installation instructions, hardware requirements, and support.
@@ -17,163 +17,252 @@ lerobot-record \
--dataset.num_episodes=5
```
> [!TIP]
> ⚠️ marks projects that are **forks/extensions of LeRobot** — they require custom setup rather than working with an unmodified install. All other entries are drop-in plugins.
## Industrial & Collaborative Arms
**[lerobot-robot-xarm](https://github.com/SpesRobotics/lerobot-robot-xarm)** — by SpesRobotics
Integration bringing [UFACTORY](https://www.ufactory.cc/)'s popular xArm collaborative arm series into the LeRobot teleoperation and recording workflow.
**[lerobot_lebai](https://github.com/lebai-robotics/lerobot_lebai)** — by Lebai Robotics
Integration bringing [Lebai](https://lebai.ltd/en/)'s six-axis collaborative robot arms into the LeRobot teleoperation and recording workflow.
**[LeFranX](https://github.com/wengmister/LeFranX)** — by wengmister
> [!WARNING]
> Not a drop-in plugin — this project is a fork/extension of LeRobot and requires additional setup rather than working with an unmodified install.
LeRobot extension pairing the [Franka](https://franka.de/) research arm with the [RobotEra XHand](https://www.robotera.com/) dexterous hand for VR-based teleoperation (an instantiation of the LeVR framework).
<table width="100%" style="table-layout:fixed;">
<colgroup>
<col width="30%" />
<col width="70%" />
</colgroup>
<thead>
<tr><th>Project</th><th>Description</th></tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/SpesRobotics/lerobot-robot-xarm">lerobot-robot-xarm</a></td>
<td>Plugin for the xArm collaborative arm series from <a href="https://www.ufactory.us/">UFACTORY</a>.</td>
</tr>
<tr>
<td><a href="https://github.com/lebai-robotics/lerobot_lebai">lerobot_lebai</a></td>
<td>Plugin for the six-axis collaborative arms from <a href="https://lebai.ltd/en/">Lebai</a>.</td>
</tr>
<tr>
<td><a href="https://github.com/wengmister/LeFranX">LeFranX</a> ⚠️</td>
<td>LeRobot extension for the <a href="https://franka.de/">Franka</a> research arm, paired with the <a href="https://www.robotera.com/">RobotEra XHand</a> hand for VR teleoperation.</td>
</tr>
</tbody>
</table>
### Universal Robots UR5e
**[UR5e-LeRobot](https://github.com/yechen056/UR5e-LeRobot)** — by yechen056
> [!WARNING]
> Not a drop-in plugin — this project is a fork/extension of LeRobot and requires additional setup rather than working with an unmodified install.
LeRobot extension for the [Universal Robots UR5e](https://www.universal-robots.com/), with both single-arm and bimanual support.
**[lerobot_ur5e_auto](https://github.com/scy-v/lerobot_ur5e_auto)** — by scy-v
> [!WARNING]
> Not a drop-in plugin — this project is a fork/extension of LeRobot and requires additional setup rather than working with an unmodified install.
Automated data collection for a mobile [Universal Robots UR5e](https://www.universal-robots.com/) platform, built on LeRobot to scale up dataset creation with minimal supervision.
**[lerobot_ur5e_gello — UR5e follower](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer
The UR5e robot plugin from F-Fer's monorepo: RTDE control of the [Universal Robots UR5e](https://www.universal-robots.com/) with a [Robotiq](https://robotiq.com/) gripper, plus a matching GELLO leader (see [Teleoperators](#teleoperators)).
<table width="100%" style="table-layout:fixed;">
<colgroup>
<col width="30%" />
<col width="70%" />
</colgroup>
<thead>
<tr><th>Project</th><th>Description</th></tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/yechen056/UR5e-LeRobot">UR5e-LeRobot</a> ⚠️</td>
<td>LeRobot extension for the <a href="https://www.universal-robots.com/">Universal Robots UR5e</a>, with single-arm and bimanual support.</td>
</tr>
<tr>
<td><a href="https://github.com/scy-v/lerobot_ur5e_auto">lerobot_ur5e_auto</a> ⚠️</td>
<td>LeRobot extension for a mobile <a href="https://www.universal-robots.com/">Universal Robots UR5e</a>, adding automated recording at scale with minimal supervision.</td>
</tr>
<tr>
<td><a href="https://github.com/F-Fer/lerobot_ur5e_gello">lerobot_robot_ur5e</a></td>
<td>Plugin for the <a href="https://www.universal-robots.com/">Universal Robots UR5e</a> with a <a href="https://robotiq.com/">Robotiq</a> gripper, over RTDE control.</td>
</tr>
</tbody>
</table>
## Research & Learning Arms
**[lerobot_trossen](https://github.com/TrossenRobotics/lerobot_trossen)** — by Trossen Robotics
Official integrations for [Trossen Robotics](https://www.trossenrobotics.com/)' WidowX and ALOHA-style arms, widely used in low-cost robot-learning research.
**[lerobot_robot_piper (AgRobotics Research)](https://github.com/AgRoboticsResearch/lerobot_robot_piper)** — by AgRoboticsResearch
A compact, lightweight integration bringing the [AgileX Piper](https://global.agilex.ai/) arm into the LeRobot teleoperation and recording workflow.
**[lerobot_robot_piper (WeGo Robotics)](https://github.com/WeGo-Robotics/lerobot_robot_piper)** — by WeGo-Robotics
A fuller-featured [AgileX Piper](https://global.agilex.ai/) plugin adding follower/leader interfaces, multi-arm teleoperation, safety limits, multi-camera support, and GUI setup/control tools.
<table width="100%" style="table-layout:fixed;">
<colgroup>
<col width="30%" />
<col width="70%" />
</colgroup>
<thead>
<tr><th>Project</th><th>Description</th></tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/TrossenRobotics/lerobot_trossen">lerobot_trossen</a></td>
<td>Plugin for the WidowX and ALOHA-style arms from <a href="https://www.trossenrobotics.com/">Trossen Robotics</a>.</td>
</tr>
<tr>
<td><a href="https://github.com/AgRoboticsResearch/lerobot_robot_piper">lerobot_robot_piper (AgRobotics Research)</a></td>
<td>Plugin for the <a href="https://global.agilex.ai/">AgileX Piper</a> arm.</td>
</tr>
<tr>
<td><a href="https://github.com/WeGo-Robotics/lerobot_robot_piper">lerobot_robot_piper (WeGo Robotics)</a></td>
<td>Plugin for the <a href="https://global.agilex.ai/">AgileX Piper</a> arm, with multi-arm teleoperation, safety limits, and GUI tools.</td>
</tr>
</tbody>
</table>
## Affordable & Hobbyist Arms
**[fashionstar-lerobot-robot-cello](https://github.com/servodevelop/fashionstar-lerobot-robot-cello)** — by servodevelop
LeRobot integration for [FashionStar](https://fashionstar.com.hk/)'s StarAI Cello, a factory-ready 6+1-DoF follower arm for teleoperation and data collection.
**[fashionstar-lerobot-robot-viola](https://github.com/servodevelop/fashionstar-lerobot-robot-viola)** — by servodevelop
LeRobot integration for [FashionStar](https://fashionstar.com.hk/)'s StarAI Viola, a compact 6+1-DoF sibling to the Cello follower arm above.
<table width="100%" style="table-layout:fixed;">
<colgroup>
<col width="30%" />
<col width="70%" />
</colgroup>
<thead>
<tr><th>Project</th><th>Description</th></tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/servodevelop/fashionstar-lerobot-robot-cello">fashionstar-lerobot-robot-cello</a></td>
<td>Plugin for the StarAI Cello 6+1 degrees of freedom arm from <a href="https://fashionstar.com.hk/">FashionStar</a>.</td>
</tr>
<tr>
<td><a href="https://github.com/servodevelop/fashionstar-lerobot-robot-viola">fashionstar-lerobot-robot-viola</a></td>
<td>Plugin for the compact StarAI Viola 6+1 degrees of freedom arm from <a href="https://fashionstar.com.hk/">FashionStar</a>.</td>
</tr>
</tbody>
</table>
## Service, Mobile & Utility Robots
**[lerobot-robot-ugo-pro](https://github.com/ugo-plus/lerobot-robot-ugo-pro)** — by ugo (ugo-plus)
Integration bringing [ugo](https://ugo.plus/products/ugo-pro/)'s ugo Pro — a dual-arm service robot for security, inspection, and guidance — into the LeRobot ecosystem.
**[lerobot_robot_lekiwi_pincopen](https://github.com/zuoxingdong/lerobot_robot_lekiwi_pincopen)** — by zuoxingdong
A drop-in plugin letting unmodified LeRobot drive a LeKiwi mobile manipulator equiped with a [PincOpen](https://github.com/pollen-robotics/PincOpen) gripper, with tunable servo parameters.
**[lerobot-robot-dummy](https://github.com/KillingJacky/lerobot-robot-dummy)** — by KillingJacky
A virtual follower arm for debugging that drives no hardware and instead prints the actions it receives, handy for testing leaders and pipelines without a real robot.
<table width="100%" style="table-layout:fixed;">
<colgroup>
<col width="30%" />
<col width="70%" />
</colgroup>
<thead>
<tr><th>Project</th><th>Description</th></tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/ugo-plus/lerobot-robot-ugo-pro">lerobot-robot-ugo-pro</a></td>
<td>Plugin for the ugo Pro dual-arm service robot from <a href="https://ugo.plus/products/ugo-pro/">ugo</a>.</td>
</tr>
<tr>
<td><a href="https://github.com/zuoxingdong/lerobot_robot_lekiwi_pincopen">lerobot_robot_lekiwi_pincopen</a></td>
<td>Plugin for the LeKiwi mobile manipulator with a <a href="https://github.com/pollen-robotics/PincOpen">PincOpen</a> gripper.</td>
</tr>
<tr>
<td><a href="https://github.com/KillingJacky/lerobot-robot-dummy">lerobot-robot-dummy</a></td>
<td>Plugin simulating a virtual robot for recording without hardware, useful for debugging.</td>
</tr>
</tbody>
</table>
## Teleoperators
**[lerobot-teleoperator-teleop](https://github.com/SpesRobotics/lerobot-teleoperator-teleop)** — by SpesRobotics
Turns a phone or a VR headset into a 6-DoF teleoperator via [WebXR](https://immersiveweb.dev) — no leader hardware required. Wraps SpesRobotics' [`teleop`](https://github.com/SpesRobotics/teleop) library.
**[lerobot-teleoperator-spacemouse](https://github.com/Jas000n/lerobot-teleoperator-spacemouse)** — by Jas000n
Turns a [3Dconnexion SpaceMouse](https://3dconnexion.com/) into a 6-DoF teleoperator, with built-in inverse kinematics for SO-101/SO-ARM followers, axis remapping, and custom-URDF profiles.
**[vr-teleop-kit](https://github.com/Dream-Machines-Robotics/vr-teleop-kit)** — by Dream-Machines-Robotics
An open-source VR teleoperation kit driving robot arms from a [Meta Quest](https://www.meta.com/quest/) (WebXR) headset via differential inverse kinematics (single-arm and bimanual).
**[lerobot-teleoperator-pico4](https://github.com/xensedyl/lerobot-teleoperator-pico4)** — by xensedyl
Teleoperation plugin driving LeRobot from a [PICO 4](https://www.picoxr.com/) VR headset, with a companion [hand-tracking variant](https://github.com/xensedyl/lerobot-teleoperator-pico4-hand).
**[lerobot_ur5e_gello — GELLO leader](https://github.com/F-Fer/lerobot_ur5e_gello)** — by F-Fer
The GELLO leader plugin from F-Fer's monorepo: a Dynamixel-based 7-DoF [GELLO](https://wuphilipp.github.io/gello_site/) arm for teleoperating the UR5e follower (see [Universal Robots UR5e](#universal-robots-ur5e)).
**[lerobot_teleoperator_yamactiveleader](https://github.com/uynitsuj/lerobot_teleoperator_yamactiveleader)** — by uynitsuj
Integration for [I2RT](https://i2rt.com/)'s active YAM leader — a bilateral force-feedback teleoperation arm — bringing it into the LeRobot workflow.
**[lerobot_teleoperator_omy](https://github.com/charlie8612/lerobot_teleoperator_omy)** — by charlie8612
LeRobot teleoperator plugin for [ROBOTIS](https://www.robotis.com/)' OMY-L100, a 6-DoF leader arm driven directly without requiring ROS 2.
**[lerobot_teleoperator_inverse3](https://github.com/chohh7391/lerobot_teleoperator_inverse3)** — by chohh7391
Teleoperator plugin for the [Haply Inverse3](https://www.haply.co/) haptic device, bringing force-feedback control into the LeRobot workflow.
**[lerobot_teleoperator_omega7](https://github.com/hzhz112/lerobot_teleoperator_omega7)** — by hzhz112
Teleoperator plugin for the [Force Dimension omega.7](https://www.forcedimension.com/) haptic device, bringing force-feedback control into the LeRobot workflow.
**[lerobot-teleoperator-pipermate](https://pypi.org/project/lerobot-teleoperator-pipermate/)** — by Welt-liu
PiperMate leader teleoperator ([FashionStar](https://fashionstar.com.hk/) UART servos) built to drive the [AgileX Piper](https://global.agilex.ai/) arm.
**[lerobot-teleoperator-livekit](https://pypi.org/project/lerobot-teleoperator-livekit/)** — by binhpham_lk
Robot-side teleoperator receiving commands over a [LiveKit](https://livekit.io/) Portal (WebRTC), enabling remote teleoperation across the network.
<table width="100%" style="table-layout:fixed;">
<colgroup>
<col width="30%" />
<col width="70%" />
</colgroup>
<thead>
<tr><th>Project</th><th>Description</th></tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/SpesRobotics/lerobot-teleoperator-teleop">lerobot-teleoperator-teleop</a></td>
<td>Plugin turning a phone or VR headset into a teleoperator via <a href="https://immersiveweb.dev">WebXR</a>, wrapping the open-source <a href="https://github.com/SpesRobotics/teleop"><code>teleop</code></a> library.</td>
</tr>
<tr>
<td><a href="https://github.com/Jas000n/lerobot-teleoperator-spacemouse">lerobot-teleoperator-spacemouse</a></td>
<td>Plugin for the <a href="https://3dconnexion.com/">3Dconnexion SpaceMouse</a>, with inverse kinematics for SO-arms robots.</td>
</tr>
<tr>
<td><a href="https://github.com/Dream-Machines-Robotics/vr-teleop-kit">vr-teleop-kit</a></td>
<td>Plugin for the <a href="https://www.meta.com/quest/">Meta Quest</a> (WebXR) headset, relying on URDF descriptions for inverse kinematics.</td>
</tr>
<tr>
<td><a href="https://github.com/xensedyl/lerobot-teleoperator-pico4">lerobot-teleoperator-pico4</a></td>
<td>Plugin for the <a href="https://www.picoxr.com/">PICO 4</a> VR headset, with a companion controller-free <a href="https://github.com/xensedyl/lerobot-teleoperator-pico4-hand">hand-tracking variant</a>.</td>
</tr>
<tr>
<td><a href="https://github.com/F-Fer/lerobot_ur5e_gello">lerobot_teleoperator_gello</a></td>
<td>Plugin for the 7 degrees of freedom <a href="https://wuphilipp.github.io/gello_site/">GELLO</a> teleoperator.</td>
</tr>
<tr>
<td><a href="https://github.com/uynitsuj/lerobot_teleoperator_yamactiveleader">lerobot_teleoperator_yamactiveleader</a></td>
<td>Plugin for the active YAM teleoperator from <a href="https://i2rt.com/">I2RT</a>, a bilateral force-feedback arm.</td>
</tr>
<tr>
<td><a href="https://github.com/charlie8612/lerobot_teleoperator_omy">lerobot_teleoperator_omy</a></td>
<td>Plugin for the OMY-L100 6 degrees of freedom teleoperator from <a href="https://www.robotis.com/">ROBOTIS</a>.</td>
</tr>
<tr>
<td><a href="https://github.com/chohh7391/lerobot_teleoperator_inverse3">lerobot_teleoperator_inverse3</a></td>
<td>Plugin for the <a href="https://www.haply.co/">Haply Inverse3</a> haptic device, adding force-feedback teleoperation.</td>
</tr>
<tr>
<td><a href="https://github.com/hzhz112/lerobot_teleoperator_omega7">lerobot_teleoperator_omega7</a></td>
<td>Plugin for the <a href="https://www.forcedimension.com/">Force Dimension omega.7</a> haptic device, adding 7-axis force-feedback teleoperation.</td>
</tr>
<tr>
<td><a href="https://pypi.org/project/lerobot-teleoperator-pipermate/">lerobot-teleoperator-pipermate</a></td>
<td>Plugin for the PiperMate teleoperator (<a href="https://fashionstar.com.hk/">FashionStar</a> UART servos), driving the <a href="https://global.agilex.ai/">AgileX Piper</a> arm.</td>
</tr>
<tr>
<td><a href="https://pypi.org/project/lerobot-teleoperator-livekit/">lerobot-teleoperator-livekit</a></td>
<td>Plugin receiving teleoperation commands over a <a href="https://livekit.io/">LiveKit</a> Portal (WebRTC) for remote control.</td>
</tr>
</tbody>
</table>
## Full Kits (Robot + Teleoperator)
**[lerobot-arx5](https://github.com/villekuosmanen/lerobot-arx5)** — by villekuosmanen
An [ARX5](https://www.arx-x.com/) kit from a single author: the [`lerobot-arx5`](https://github.com/villekuosmanen/lerobot-arx5) robot plugin paired with its [`lerobot-teleoperator-arx5`](https://pypi.org/project/lerobot-teleoperator-arx5/) leader/teleoperator counterpart.
**[Nextis-AIRA-3D](https://github.com/robertorobotics/Nextis-AIRA-3D)** — by robertorobotics
An open-source, 3D-printable 7-DoF arm from [Nextis](https://www.nextis.tech) shipping as a LeRobot plugin, registering a robot (`aira_follower`) and Dynamixel leader (`aira_leader`) for teleoperation and training.
**[lerobot_yam](https://github.com/pravsels/lerobot_yam)** — by pravsels
A plugin suite for [I2RT](https://i2rt.com/)'s YAM arm shipping a follower (`yam_follower`) and GELLO leader (`yam_leader`), installable together or component-by-component.
**[trlc-dk1](https://github.com/robot-learning-co/trlc-dk1)** — by The Robot Learning Company
[The Robot Learning Company](https://www.robot-learning.co/)'s open-source dev kit for AI-native robotics, shipping a `lerobot_robot_trlc_dk1` plugin with single-arm `dk1_follower`/`dk1_leader` and bimanual `bi_dk1_follower`/`bi_dk1_leader` types.
**[hex_lerobot_drivers](https://github.com/hexfellow/hex_lerobot_drivers)** — by hexfellow
A full suite of drop-in plugins for [HEXFELLOW](https://hexfellow.com/) devices on PyPI: Hex Arm robots, matching leader teleoperators, and cameras (see [Cameras & Sensors](./third_party_sensors)).
**[lerobot-robot-nexarm-follower](https://github.com/Hiwonder-official/lerobot-robot-nexarm-follower)** — by Hiwonder
A LeRobot plugin pair for [Hiwonder](https://www.hiwonder.com/)'s NexArm: a follower robot and its matching [leader teleoperator](https://github.com/Hiwonder-official/lerobot-teleoperator-nexarm-leader) for recording and deployment.
<table width="100%" style="table-layout:fixed;">
<colgroup>
<col width="30%" />
<col width="70%" />
</colgroup>
<thead>
<tr><th>Project</th><th>Description</th></tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/villekuosmanen/lerobot-arx5">lerobot-arx5</a></td>
<td>Plugin for the <a href="https://www.arx-x.com/">ARX5</a> arm: <a href="https://pypi.org/project/lerobot-robot-arx5/"><code>lerobot-arx5</code></a> robot with its <a href="https://pypi.org/project/lerobot-teleoperator-arx5/"><code>lerobot-teleoperator-arx5</code></a> teleoperator.</td>
</tr>
<tr>
<td><a href="https://github.com/robertorobotics/Nextis-AIRA-3D">Nextis-AIRA-3D</a></td>
<td>Plugin for a 3D-printable 7 degrees of freedom arm from <a href="https://www.nextis.tech">Nextis</a>: robot <code>aira_follower</code> and teleoperator <code>aira_leader</code>.</td>
</tr>
<tr>
<td><a href="https://github.com/pravsels/lerobot_yam">lerobot_yam</a></td>
<td>Plugin suite for the YAM arm from <a href="https://i2rt.com/">I2RT</a>: robot <code>yam_follower</code> and teleoperator <code>yam_leader</code>.</td>
</tr>
<tr>
<td><a href="https://github.com/robot-learning-co/trlc-dk1">trlc-dk1</a></td>
<td>Plugin for the development kit from <a href="https://www.robot-learning.co/">The Robot Learning Company</a>: single-arm and bimanual robot/teleoperator types.</td>
</tr>
<tr>
<td><a href="https://github.com/hexfellow/hex_lerobot_drivers">hex_lerobot_drivers</a></td>
<td>Plugin suite for <a href="https://hexfellow.com/">HEXFELLOW</a> devices: Hex Arm robots, teleoperators, and cameras (see <a href="./third_party_sensors">Cameras &amp; Sensors</a>).</td>
</tr>
<tr>
<td><a href="https://github.com/Hiwonder-official/lerobot-robot-nexarm-follower">lerobot-robot-nexarm-follower</a></td>
<td>Plugin for the NexArm from <a href="https://www.hiwonder.com/">Hiwonder</a>: the <a href="https://github.com/Hiwonder-official/lerobot-robot-nexarm-follower">robot</a> and its matching <a href="https://github.com/Hiwonder-official/lerobot-teleoperator-nexarm-leader">teleoperator</a>.</td>
</tr>
</tbody>
</table>
## ROS 2 Bridges
**[leros2](https://github.com/ngres/leros2)** — by ngres
Maps ROS 2 topics and actions to LeRobot robots and teleoperators, bridging existing ROS 2 hardware into the LeRobot interface on both sides.
**[lerobot_robot_ros2_zenoh](https://github.com/ROBOTIS-GIT/lerobot_robot_ros2_zenoh)** — by ROBOTIS
A ROS 2 [Zenoh](https://zenoh.io)-based integration for LeRobot, letting you drive ROS 2 robots through the LeRobot interface.
<table width="100%" style="table-layout:fixed;">
<colgroup>
<col width="30%" />
<col width="70%" />
</colgroup>
<thead>
<tr><th>Project</th><th>Description</th></tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/ngres/leros2">leros2</a></td>
<td>Plugin bridging ROS 2 topics and actions to LeRobot robots and teleoperators.</td>
</tr>
<tr>
<td><a href="https://github.com/ROBOTIS-GIT/lerobot_robot_ros2_zenoh">lerobot_robot_ros2_zenoh</a></td>
<td>Plugin bridging ROS 2 robots to LeRobot over <a href="https://zenoh.io">Zenoh</a> pub/sub transport.</td>
</tr>
</tbody>
</table>
## Contributing