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Which LeRobot Hardware is Right for You: SO-100, Aloha, or Unitree?
Direct Answer: Choose SO-100 for the fastest end-to-end setup. Choose Aloha for high-precision dual-arm tasks. Choose Unitree for humanoid and dynamic tasks.
Core Hardware Comparison
Direct Answer: Filter by budget and target tasks first, then consider motor ecosystem and maintenance costs.
| Hardware Name | Motors/Actuators | DoF | Payload | Est. Price | Core Advantages |
|---|---|---|---|---|---|
| SO-100 | 6x Feetech STS3215 | 6 | 100g | $250 |
|
| Aloha (Fixed) | Dynamixel XM430/XL430 | 14 (Dual-arm) | 500g | $10,000+ |
|
| Unitree G1 | Unitree Custom | 23-43 | 2kg (Arm) | $16,000+ |
|
* Data last updated at 2026-03-18. Prices may vary.
How to choose a camera: Monocular vs. Stereo vs. Depth?
Direct Answer: Prefer standard cameras for beginners; use depth cameras only if you need geometric data.
| Type | Pros | Cons | Best For |
|---|---|---|---|
| Monocular RGB | Stable, cheap | No depth info | Basic grasping |
| Stereo | Geometric data | Complex calibration | Depth-sensitive tasks |
| Depth Camera | Direct depth output | Drivers/Bandwidth | Complex scenes |
Source: Community Tests | Updated: 2026-03-18
What computing hardware is required for smooth training and inference?
Direct Answer: Validate workflows with CPU first; use 8GB+ VRAM for stable training; use cloud GPUs for final push.
| Setup | Training Speed | Cost | Best For |
|---|---|---|---|
| CPU | Slow | Lowest | Workflow Validation |
| Local GPU (8GB+) | Medium | One-time | Stable Training |
| Cloud GPU | Fast | Pay-as-you-go | Final Push |
Source: Community Tests | Updated: 2026-03-18
SO-100 Starter Kit (One-Click Purchase)
- Feetech STS3215 Motors x6$150
- 3D Printed Parts (PLA/PETG)$40
- Waveshare Board + Cables$30
- Logitech C920 Cameras x2$80
Expert Advice:
Beginners should buy pre-assembled motor kits to save at least 5 hours of debugging time.
Recommended Templates
Beginner Choice (SO-100)HOT
The most affordable solution, perfect for algorithm validation in a dorm or office.
Research Level (Aloha)
Standard academic research platform, supporting state-of-the-art imitation learning reproduction.