ARX R5
A 6-DoF force-controlled arm for teleoperation and imitation learning, with ROS, ROS 2, Python and VR software.
Key facts
ARX R5 is a 6-DoF force-controlled arm released in June 2024 for teleoperation and imitation learning. ARX publishes ROS, ROS 2 and Python packages for it, a VR teleoperation app for Meta Quest 3, and an ALOHA data-collection system built on R5.
- Degrees of freedom
- 6
- Joints
- Force (current) controlled
- Software
- ROS, ROS 2, Python
- Teleoperation
- Leader–follower, VR (Meta Quest 3)
- Released
- June 2024
Specifications
Published by ARX or in the SDK documentation. Figures not published are left out; ask for the full spec sheet.
| Degrees of freedom | 6 |
|---|---|
| Joint control | Force (current) controlled |
| Bus | CAN |
| Software | R5 repository: ROS workspace, ROS 2 workspace, Python SDK |
| VR | ARX_VR app and install guide for Meta Quest 3 |
| Data collection | ARX ALOHA data-collection system (R5), based on mobile-aloha and act-plus-plus |
What it's used for
- Leader–follower data collection
- VR teleoperation
- ROS and ROS 2 research stacks
Questions about R5
Does R5 support ROS 2?
Yes. ARX's R5 repository contains both a ROS and a ROS 2 workspace, plus a Python SDK.
Can I teleoperate R5 with a VR headset?
Yes. ARX publishes ARX_VR with an app and install guide for Meta Quest 3.
R5 or X5?
Both are 6-DoF force-controlled arms. X5 has published payload and reach figures and Stanford's arx5-sdk; R5 has ARX's ROS, ROS 2 and VR packages. Tell us your setup and we'll recommend one.
Sources
Last updated October 10, 2026 · facts from the sources listed on this page
Price a R5 setup.
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