Report
ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation
| العنوان: | ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation |
|---|---|
| المؤلفون: | ALOHA 2 Team, Aldaco, Jorge, Armstrong, Travis, Baruch, Robert, Bingham, Jeff, Chan, Sanky, Draper, Kenneth, Dwibedi, Debidatta, Finn, Chelsea, Florence, Pete, Goodrich, Spencer, Gramlich, Wayne, Hage, Torr, Herzog, Alexander, Hoech, Jonathan, Nguyen, Thinh, Storz, Ian, Tabanpour, Baruch, Takayama, Leila, Tompson, Jonathan, Wahid, Ayzaan, Wahrburg, Ted, Xu, Sichun, Yaroshenko, Sergey, Zakka, Kevin, Zhao, Tony Z. |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, Computer Science - Machine Learning |
| الوصف: | 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. Comment: Project website: aloha-2.github.io |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2405.02292 |
| رقم الانضمام: | edsarx.2405.02292 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |