lerobot_alohamini

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本节介绍 LeRobot 的通用功能。请按目标机器人、数据集和运行环境配置示例；用于 AlohaMini 2 / 2 Pro 前，需要确认硬件与接口兼容性。

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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

1. Install — prepare the environment, serial port permissions, and Hugging Face login.

2. 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

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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