Mobile ALOHA at Stanford University
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- Опубліковано 28 вер 2024
- Project Website: mobile-aloha.g...
Team at Stanford University: Zipeng Fu*, Tony Z. Zhao*, Chelsea Finn
Filmed and Edited by Kurt Hickman
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.
I think this is the most promising, useful and genius robot in the entire industry, immitation learning is the most efficient and practical process for developing such home robots that's able to help humans in their daily lives, also the fact that it's an open source project makes it by far one of the most inspiring democratization movements I have ever seen, an entire generation of roboticists should learn and build up on this project, I am looking forward to see ROS branch for this awesome project, also looking forward to see LLM integration for high level planning, awesome work and effort keep up the good work.
How can I make it for graduation project?
Hey Zipeng, I have a bright, energetic child who faces daily challenges due to a disability that causes his foot and hand to turn in when he walks or runs. I'm wondering if the Mobile ALOHA could accompany my son to do some daily exercises like craw walk, frog jump, or do some massages on his foot?If so, please do let me know, that'll be a great help. thanks in advance.
Japan is suffering from population decline. I have high hopes for robots.
I can't believe you're distributing this for free. You're so generous.
will you implement openAI to process visual input?
Awesome work!
Great work
Hello, is mobile aloha robot now available in the market?
Their software is open-source and the entire thing can be built from parts you can order online for ~$30k. If you google mobile aloha you can see their site and tutorials.
华人的骄傲🎉❤❤🎉🎉❤❤🎉🎉❤❤🎉
no sea foods. do vegan plus cheese. no roots
that's absolutely incredible work