lerobot_alohamini
July 11, 2026 · View on GitHub
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