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arXiv:2401.02117cs.RO

Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Zipeng Fu, Tony Z. Zhao, Chelsea Finn

Abstract

Imitation learning from human demonstrations has shown impressive performance in robotics. However, most results focus on table-top manipulation, lacking the mobility and dexterity necessary for generally useful tasks. In this work, we develop a system for imitating mobile manipulation tasks that are bimanual and require whole-body control. We first present Mobile ALOHA, a low-cost and whole-body teleoperation system for data collection. It augments the ALOHA system with a mobile base, and a whole-body teleoperation interface. Using data collected with Mobile ALOHA, we then perform supervised behavior cloning and find that co-training with existing static ALOHA datasets boosts performance on mobile manipulation tasks. With 50 demonstrations for each task, co-training can increase success rates by up to 90%, allowing Mobile ALOHA to autonomously complete complex mobile manipulation tasks such as sauteing and serving a piece of shrimp, opening a two-door wall cabinet to store heavy cooking pots, calling and entering an elevator, and lightly rinsing a used pan using a kitchen faucet. Project website: https://mobile-aloha.github.io

arXiv comments
Project website: https://mobile-aloha.github.io (Zipeng Fu and Tony Z. Zhao are project co-leads, Chelsea Finn is the advisor)
Journal reference
DOI
Subjects
cs.RORobotics cs.AIArtificial Intelligence cs.CVComputer Vision and Pattern Recognition cs.LGMachine Learning eess.SYSystems and Control (EESS)

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Linked by 2 identifiable commenters in 3 comments across 1 thread, from Apr 2024 to Apr 2024. Found in 1 HN submission from Jan 2024 to Jan 2024. Open submission discussions.

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  1. Google DeepMind's Aloha Unleashed is pushing the boundaries of robot dexterity 3 comments

    • It isn't clear how "Aloha Unleashed" is different from "Mobile ALOHA" Paper: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation: https://arxiv.org/abs/2401.02117 Video set: https://mobile-aloha.github.io/ Tutorial…

      adolphView on HNParent context

    • If you want a robot that can fold your laundry, clean your room and cook, you need a lot more than cheap hardware. You need an autonomous agent (i.e. "an AI") that can guide the hardware to accomplish the task. We're still very far from that and you certainly can't do that with…

      YeGoblynQueenneView on HNParent context

    • Yeah, it's called imitation learning. Check out the Mobile ALOHA paper where they explain their approach in some detail: https://arxiv.org/abs/2401.02117

      YeGoblynQueenneView on HNParent context

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