NexArm follower arm with a first-person camera bracket, beside the leader arm with its handle grip

Robot arms

NexArm LeRobot

NexArm leader and follower arms for imitation learning with Hugging Face LeRobot, singly or as a kit.

ESP32
Arduino
Suggested for university

This is NexArm set up for LeRobot imitation learning: the follower arm or the leader arm on its own, or an Imitation Learning Standard or Advanced Kit with both. NexArm is an open-source robot arm for embodied AI and VLA (vision-language-action) learning, with an all-metal housing, magnetic encoder serial bus servos and dual-output-shaft joints. Moving the leader arm by hand drives the follower, which records demonstrations for training, and the arms work with Hugging Face LeRobot, so policies such as ACT, Diffusion Policy and Pi0 can be deployed on them. The Standard Kit adds a first-person camera on the follower arm, and the Advanced Kit also adds a third-person camera on a mount.

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Configurations

Choose how it ships.

Model: NexArm（Follower Arm） · NexArm（Leader Arm） · Imitation Learning Standard Kit · Imitation Learning Advanced Kit

What it does

Built for.

Leader-follower teleoperation
The leader arm is dragged by hand and the follower reproduces its motion and grasping trajectory. Each demonstration becomes training data for end-to-end imitation learning.
Geared for each role
The leader arm uses a 1:147 gear ratio to capture demonstrations at a high rate, and the follower a 1:345 reduction ratio for stable positioning.
Hugging Face LeRobot
NexArm is compatible with LeRobot at a low level, so community models and policies such as ACT, Diffusion Policy and Pi0 can be trained and run on it.
Two camera views (kits)
The Imitation Learning Standard Kit adds a first-person camera on the follower arm for hand-eye coordination. The Advanced Kit adds a third-person camera on a mount for a view of the whole scene.
Servos and gripper
Magnetic encoder bus servos with all-metal gears and dual output shafts keep the joints precise and stable, and the parallel-rail gripper has silicone pads and stainless steel transmission parts.
Control without the leader
The app moves each joint and calls up preset action groups, a PS3 wireless controller (included in the Imitation Learning kits) pairs one-to-one with an arm, and several arms can work together wirelessly.

Where it is used

Applications.

University research and teaching in imitation learning and VLA models
Collecting teleoperation datasets for robot policy training
Deploying LeRobot policies such as ACT and Diffusion Policy
Embodied AI projects on a metal-frame arm

Videos

See it run.

Specifications

The full sheet.

Material: Metal frame
Follower arm: 111 × 111 × 614 mm, 1.3 kg
Leader arm: 111 × 216 × 619 mm, 1.2 kg
Follower arm servos: HX-12H × 2 + HX-30HM × 3 + HX-65HM × 1
Leader arm servos: HX-10HM × 5 + HX-12H × 1
Gear ratio: Leader arm 1:147; follower arm 1:345
Payload: 500 g
Repeatability: ±2 mm
Workspace: 0.5 m
Controller: NexArm follower arm controller, NexArm leader arm controller
Power supply: 12V 5A (DC 5.5 × 2.5)
Operating system: Windows / Linux / macOS
Control method: USB serial / Bluetooth / Wi-Fi
Programming tool: Arduino IDE
Cameras: First-person camera and bracket (Standard and Advanced Kit); third-person camera and mount (Advanced Kit)
Package, Imitation Learning Standard Kit: 6.7kg, 487 × 290 × 195 mm
Package, Imitation Learning Advanced Kit: 7.9kg, 487 × 290 × 195 mm