lerobot_alohamini#

← Tutorial Library · Environment and Training Tools

This section introduces the general functions of LeRobot. Please configure the example according to the target robot, data set and operating environment; before using it with AlohaMini 2 / 2 Pro, you need to confirm the hardware and interface compatibility.

Shared software layer for the AlohaMini product line, built on HuggingFace LeRobot. Supports both the full AlohaMini robot (dual-arm + mobile base + lift) and the AM-ARM200 arm.

Haven’t assembled your hardware yet? Start here: AlohaMini · AM-ARM200

Updates#

[2025-07-11] merge upstream LeRobot v0.6

Documentation#

Start with setup, then follow the workflow for your hardware. Use the reference pages when you need exact flags, commands, or low-level debug tools.

Recommended Path#

Install — prepare the environment, serial port permissions, and Hugging Face login.
Pick your robot workflow:
- AM-ARM200 — single-arm workflow on one PC: calibration, teleoperation, dataset recording, training, and evaluation.
- AlohaMini 1 / 2 / 2 Pro — dual-arm workflow with Pi + PC: calibration, teleoperation, dataset recording, training, and evaluation.

References#

Reference	Use it for
Hardware Profiles	`--arm_profile` and `--robot_model` flag meanings
Command Cheat Sheet	Copy-paste commands for setup, host, teleoperation, recording, training, evaluation, and common checks
Debug Tools	Low-level motor, wheel, lift axis, servo ID, phase, midpoint, torque, and scripted-action debug functions

Team & Contact#

AlohaMini is created by Li Yiteng and Wu Zhiyong.

Email: liyiteng+github@gmail.com
WeChat: liyiteng

Acknowledgements#

LeRobot — the software stack this repository targets
ALOHA — the bimanual teleoperation paradigm
SO-ARM100 — pioneered the low-cost open arm design pattern