# Robots

Every robot in LeRobot implements the [`Robot`] interface: connect, read an observation, send an action,
disconnect. Writing a policy or a recording script against that interface means it works with any supported
arm without change.

This page is the generated reference. For wiring, calibration and first-run instructions, start with the
hardware guides — [SO-101](../so101), [LeKiwi](../lekiwi), [Hope Jr](../hope_jr), [Reachy 2](../reachy2),
[OpenArm](../openarm) — or [Imitation Learning for Robots](../il_robots) for the end-to-end workflow. To add
a robot of your own, see [Bring Your Own Hardware](../integrate_hardware).

## Robot

The abstract base class. Subclasses implement every method below; the contract described here is what a
policy or recording loop can rely on.

[[autodoc]] lerobot.robots.Robot
    - connect
    - disconnect
    - configure
    - calibrate
    - get_observation
    - send_action
    - observation_features
    - action_features
    - is_connected
    - is_calibrated

## RobotConfig

[[autodoc]] lerobot.robots.RobotConfig

## make_robot_from_config

[[autodoc]] lerobot.robots.make_robot_from_config

## SO-100 and SO-101 followers

`SO100Follower` and `SO101Follower` are aliases of the same `SOFollower` class; the two arms differ in their
configuration, not their control code. `SO100FollowerConfig` and `SO101FollowerConfig` are likewise aliases
of `SOFollowerRobotConfig`.

[[autodoc]] lerobot.robots.so_follower.SOFollower
    - all

[[autodoc]] lerobot.robots.so_follower.SOFollowerRobotConfig

## BiSOFollower

Two SO followers driven as one bimanual robot.

[[autodoc]] lerobot.robots.bi_so_follower.BiSOFollower
    - all

[[autodoc]] lerobot.robots.bi_so_follower.BiSOFollowerConfig

## KochFollower

[[autodoc]] lerobot.robots.koch_follower.KochFollower
    - all

[[autodoc]] lerobot.robots.koch_follower.KochFollowerConfig

## LeKiwi

`LeKiwi` runs on the robot itself. `LeKiwiClient` is the host-side proxy that talks to it over the network
and presents the same [`Robot`] interface.

[[autodoc]] lerobot.robots.lekiwi.LeKiwi
    - all

[[autodoc]] lerobot.robots.lekiwi.LeKiwiConfig

[[autodoc]] lerobot.robots.lekiwi.LeKiwiClient
    - all

[[autodoc]] lerobot.robots.lekiwi.LeKiwiClientConfig

## OpenArmFollower

[[autodoc]] lerobot.robots.openarm_follower.OpenArmFollower
    - all

[[autodoc]] lerobot.robots.openarm_follower.OpenArmFollowerConfig

## BiOpenArmFollower

[[autodoc]] lerobot.robots.bi_openarm_follower.BiOpenArmFollower
    - all

[[autodoc]] lerobot.robots.bi_openarm_follower.BiOpenArmFollowerConfig

## OmxFollower

[[autodoc]] lerobot.robots.omx_follower.OmxFollower
    - all

[[autodoc]] lerobot.robots.omx_follower.OmxFollowerConfig

## Reachy2Robot

[[autodoc]] lerobot.robots.reachy2.Reachy2Robot
    - all

[[autodoc]] lerobot.robots.reachy2.Reachy2RobotConfig

## UnitreeG1

[[autodoc]] lerobot.robots.unitree_g1.UnitreeG1
    - all

[[autodoc]] lerobot.robots.unitree_g1.UnitreeG1Config

## Hope Jr

The Hope Jr humanoid is exposed as two independent robots, an arm and a hand.

[[autodoc]] lerobot.robots.hope_jr.HopeJrArm
    - all

[[autodoc]] lerobot.robots.hope_jr.HopeJrArmConfig

[[autodoc]] lerobot.robots.hope_jr.HopeJrHand
    - all

[[autodoc]] lerobot.robots.hope_jr.HopeJrHandConfig

## RebotB601Follower

[[autodoc]] lerobot.robots.rebot_b601_follower.RebotB601Follower
    - all

[[autodoc]] lerobot.robots.rebot_b601_follower.RebotB601FollowerRobotConfig

## BiRebotB601Follower

[[autodoc]] lerobot.robots.bi_rebot_b601_follower.BiRebotB601Follower
    - all

[[autodoc]] lerobot.robots.bi_rebot_b601_follower.BiRebotB601FollowerConfig

## EarthRoverMiniPlus

[[autodoc]] lerobot.robots.earthrover_mini_plus.EarthRoverMiniPlus
    - all

[[autodoc]] lerobot.robots.earthrover_mini_plus.EarthRoverMiniPlusConfig