Have you checked out the Le Robot project by Huggingface? You can build two robot arms SO-ARM100 (leader+follower) for less than 250€ or so.

And you can train the model by yourself without relying on cloud services.

Some URLs to get your started:

https://huggingface.co/lerobot

https://github.com/huggingface/lerobot/blob/main/examples/10...

the latest project: Le Kiwi, using the SO-ARM100 arm:

https://github.com/huggingface/lerobot/blob/main/examples/11...

the super advanced HopeJR shoulder + arm + hands:

https://github.com/TheRobotStudio/HOPEJr

cool video: https://www.youtube.com/watch?v=VKHfy2vACyw