Autonomous AI Robot for Hotels and Homes Apache License | Website | Docs (soon)

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🚪 Roomi: An Affordable Autonomous Cleaning & Housekeeping Robot 🧼

🧹 Clean. 🛏️ Make beds. 🧽 Organize. 💰 Under ~$900. 🛠️ Assembly in ~5 hours!

Inspired by the vision of affordable, reliable, and scalable robotics.

Powered by: LeRobot, gym-genesis, ManiSkill.

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📰 Upcoming Releases

• 2025.8.4: Roomi support added to Genesis. Now train your Roomi policy in simulation with ease.
• 2025.7.31: Roomi teleoperation and imitation learning suite released – collect demonstrations in real-time or from simulation!
• 2025.7.19: Roomi v0.1 hardware – Full BOM, Demo, stl files.

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🛒 Cost Estimate (excludes shipping, tools, taxes)

| US $700 | EU $600 | CN $960 |

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🚀 Hardware Features

• Custom tuned PID controllers based on RP2040 + AS5600 Encoder for each joint
• High-torque, long reach 5DOF robot arm
• Simple teleop from a modified SO100 Arm
• Friendly light-up OLED eyes

roomi-demo.mp4

👣 Steps

1. 💵 Buy the parts — Bill of Materials (BOM)
2. 🖨️ [3D Print the parts]
3. 🔧 Assemble Roomi — Step-by-step build guide
4. 💻 Run the software — Flash the firmware, load up the code, and ready to go!

Requirements:

• Python 3.8+
• Platformio (for flashing firmware)
• MuJoCo (for real or sim)
• Basic Git + pip + terminal skills

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🎮 Simulate & Teleoperate Roomi with MuJoCo

You can launch and play (teleoperate) with Roomi using MuJoCo. We provide two entry-point scripts:

• Basic teleop:

  python roomi_mujoco.py

• Advanced motor control:

  python control.py

Setup instructions:

1. Create a conda environment:

   conda create -n roomi python=3.10
   conda activate roomi

2. Install dependencies and Roomi in editable mode:

   pip install -e .

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🧠 Roomi + ManiSkill

Roomi is also supported in ManiSkill. Check the roomi.py file for how to register Roomi in simulation and define keyframes, sensors, and controllers.

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📚 Citation If referencing Roomi in research or media:

@misc{choghari2025roomi,
    author = {Choghari, Jade and Lee, Kyum},
    title = {Roomi: A Practical Autonomous Cleaning and Housekeeping Robot Built with Open Source Tools},
    howpublished = {\url{https://github.com/jadechoghari/roomi}},
    year = {2025},
    note = {Jade Choghari and Kyum Lee contributed equally to this work.}
}

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⚠️ Disclaimer

By building or operating Roomi, you accept full responsibility for its behavior and outcomes. Use with care and never leave unattended in sensitive environments. This is a side project we think is cool and nice to open source!

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