SO-101
LeRobot SO-101 follower arm · The Robot Studio / LeRobot community
- 6
- 0.5 kg
- 450 mm
- 30 Hz
- 12 V DC bench supply
- Continuous duty
- Host laptop running LeRobot
- USB serial bus servo controller
Actuators
2Joints and end effectors that produce the action vector recorded in datasets.
Arm joints
×5Serial-bus smart servo
shoulder pan/lift, elbow, wrist flex/roll
Gripper
×1Servo-driven parallel jaw
printed fingers
Motors & drives
1The drive units inside those joints, with torque and reduction details.
Feetech STS3215
Serial-bus servo, metal gear
~30 kg·cm at 12 V, position + load feedback
Sensors
3Observation streams available to a policy running on this platform.
Servo position/load
Magnetic encoder in servo
read at control rate
Wrist camera
USB RGB
typical 640×480 @ 30 fps
Overhead camera
USB RGB
scene view for imitation learning
Open-hardware ~$100-class arm; leader-follower teleoperation makes it the cheapest way to record real demonstrations.
Data recorded on this hardware
Resolving related models, datasets and papers…
Single Arm datasets in the catalog
Real-world IndexedBridgeData V2
Source: UC Berkeley RAIL
- 60K
- 333.9
- 4
Real-world IndexedLeRobot Community SO-100 Datasets
Source: Hugging Face LeRobot
- 23K
- 481
- 2
Real-world IndexedDROID
Source: Stanford IRIS & REAL Labs
- 76K
- 350
- 3
Simulation IndexedLIBERO
Source: UT Austin RobIn Lab
- 6.5K
- 36.1
- 2