OpenPyRo-A1: An Open Python-Based Low-Cost Bimanual Robot for Embodied AI
Helong Huang, Christopher E. Mower, Guowei Huang, Sarthak Das, Magnus Dierking, Guangyuan Luo, Kai Tan, Xi Chen
Abstract
Many real-world tasks, such as assembly, cooking, and object handovers, require bi-manual coordination. Learning such skills via imitation remains challenging due to dataset scarcity, mainly caused by the high cost of bi-manual robotic platforms and barriers to entry in robotics software. To address these challenges, we introduce (1) OpenPyRo-A1, a low-cost, bi-manual humanoid robot priced at approximately 14K. OpenPyRo-A1 achieves <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{0.2}~\text{mm}$</tex-math></inline-formula> repeatability and supports a <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{5}~\text{kg}$</tex-math></inline-formula> payload per arm, and (2) a Python-first distributed control framework for seamless teleoperation, data collection, and policy deployment, designed for ease of use; moreover, the code-base is installable via <monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">pip</monospace>. We conducted imitation learning experiments in both simulation and the real world, integrating the robot with perception models, motion planning, and a large language model. The results demonstrate that OpenPyRo-A1 is a stable, user-friendly, and high-precision dual-arm platform. We expect that the OpenPyRo-A1 hardware, control system, and curated dataset of bi-manual manipulation episodes will advance affordable and scalable dual-arm robotics.
BibTeX
@inproceedings{ral2026_openpyroa1anopen,
title = {OpenPyRo-A1: An Open Python-Based Low-Cost Bimanual Robot for Embodied AI},
author = {Helong Huang and Christopher E. Mower and Guowei Huang and Sarthak Das and Magnus Dierking and Guangyuan Luo and Kai Tan and Xi Chen and Yehai Yang and Yingbing Chen and Yiming Zeng and Yinchuan Li and Zhanpeng Zhang and Shuang Wu and Yingxue Zhang and Weichao Qiu and Tongtong Cao and Mian Qin and Sajjad Pakdamansavoji and Yuecheng Liu and Yuzheng Zhuang and Guangjian Tian and Jianye Hao and Jun Wang and Haitham Bou-Ammar and Xingyue Quan},
booktitle = {RA-L 2026},
year = {2026}
}