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arXiv · 2405.02292

ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation

ALOHA 2 Team·Jorge Aldaco·Travis Armstrong·Robert Baruch·Jeff Bingham·Sanky Chan·Kenneth Draper·Debidatta Dwibedi·Chelsea Finn·Pete Florence·Spencer Goodrich·Wayne Gramlich·Torr Hage·Alexander Herzog·Jonathan Hoech·Thinh Nguyen·Ian Storz·Baruch Tabanpour·Leila Takayama·Jonathan Tompson·Ayzaan Wahid·Ted Wahrburg·Sichun Xu·Sergey Yaroshenko·Kevin Zakka·Tony Z. Zhao
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Abstract

Diverse demonstration datasets have powered significant advances in robot learning, but the dexterity and scale of such data can be limited by the hardware cost, the hardware robustness, and the ease of teleoperation. We introduce ALOHA 2, an enhanced version of ALOHA that has greater performance, ergonomics, and robustness compared to the original design. To accelerate research in large-scale bimanual manipulation, we open source all hardware designs of ALOHA 2 with a detailed tutorial, together with a MuJoCo model of ALOHA 2 with system identification. See the project website at aloha-2.github.io.

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ALOHA 2 Team, Jorge Aldaco, Travis Armstrong, Robert Baruch, Jeff Bingham, Sanky Chan, Kenneth Draper, Debidatta Dwibedi, Chelsea Finn, Pete Florence, Spencer Goodrich, Wayne Gramlich, Torr Hage, Alexander Herzog, Jonathan Hoech, Thinh Nguyen, Ian Storz, Baruch Tabanpour, Leila Takayama, Jonathan Tompson, Ayzaan Wahid, Ted Wahrburg, Sichun Xu, Sergey Yaroshenko, Kevin Zakka, Tony Z. Zhao. 2024-02-07. ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation. https://arxiv.org/abs/2405.02292

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