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CASE 37 / General capabilities

Mobile ALOHA: learning with two arms and a mobile base

Teleoperated demonstrations support learned mobile tasks such as opening cabinets, rinsing a pan and cooking.

Mobile ALOHA2024
Frame from Mobile ALOHA’s official Autonomous Skills recording: rinsing a pan.
Frame from Mobile ALOHA’s official Autonomous Skills recording: rinsing a pan.Mobile ALOHA · Stanford

Watch the video

Pan rinsing, from Autonomous Skills; this clip is labelled real-time. · Mobile ALOHA · Stanford · 720p source video

Original video source
01 / STUDY

Mechanism and experiments

Mobile ALOHA extends a bimanual platform with a mobile base and whole-body teleoperation interface. The study uses behaviour cloning and co-training with static ALOHA data. Its website separates autonomous skills, teleoperation, repeated trials and failures, with links to hardware, learning code and data.

02 / CONTEXT

Test conditions and scope

The three-course cooking film belongs to the teleoperation section. This case uses the pan-rinsing recording from Autonomous Skills. These sections should not be conflated when describing autonomy; playback speed follows the source recording.

03 / SOURCE

Papers and primary sources

Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
Zipeng Fu, Tony Z. Zhao, Chelsea Finn · Stanford
CoRL 2024

Further reading