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

ALOHA 2 Team, Jorge Aldaco, Travis Armstrong, Robert Baruch, Jeff Bingham +21 more
2/7/2024
cs.ROcs.LG

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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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Cite this paper

@article{team2024aloha,
  title  = {ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation},
  author = {ALOHA 2 Team and Jorge Aldaco and Travis Armstrong and Robert Baruch and Jeff Bingham and Sanky Chan and Kenneth Draper and Debidatta Dwibedi and Chelsea Finn and Pete Florence and Spencer Goodrich and Wayne Gramlich and Torr Hage and Alexander Herzog and Jonathan Hoech and Thinh Nguyen and Ian Storz and Baruch Tabanpour and Leila Takayama and Jonathan Tompson and Ayzaan Wahid and Ted Wahrburg and Sichun Xu and Sergey Yaroshenko and Kevin Zakka and Tony Z. Zhao},
  year   = {2024},
  eprint = {2405.02292},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2405.02292v1}
}

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