Year of the AI Girlfriend is Almost Here

“Introducing 𝐌𝐨𝐛𝐢𝐥𝐞 𝐀𝐋𝐎𝐇𝐀🏄 A low-cost, open-source, mobile manipulator.”

“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.”

Tutorial

Github

Project Website

It only costs $7k

“Goals:

1. Moves fast. Similar to human walking of 1.42m/s.
2. Stable. Manipulate heavy pots, a vacuum, etc.
3. Whole-body. All dofs teleoperated simultaneously.
4. Untethered. Onboard power and compute.”

“To achieve these goals, we mount ALOHA to a mobile base designed for warehouses: Tracer AGV”

“It can carry 100kg, move up to 1.6m/s, while costing only $7k”

Mobile ALOHA

At the start of the 5th big wave