Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the commoditization of actuators, has propelled growth in low-cost robotic platforms. However, the optimal form factor for mobile manipulation, especially on a budget, remains an open question. We introduce YOR, an open-source, low-cost mobile manipulator that integrates an omnidirectional base, a telescopic vertical lift, and two arms with grippers to achieve whole-body mobility and manipulation. Our design emphasizes modularity, ease of assembly using off-the-shelf components, and affordability, with a bill-of-materials cost under 10,000 USD. We demonstrate YOR's capability by completing tasks that require coordinated whole-body control, bimanual manipulation, and autonomous navigation. Overall, YOR offers competitive functionality for mobile manipulation research at a fraction of the cost of existing platforms. Project website: https://www.yourownrobot.ai/
Cite
@article{arxiv.2602.11150,
title = {YOR: Your Own Mobile Manipulator for Generalizable Robotics},
author = {Manan H Anjaria and Mehmet Enes Erciyes and Vedant Ghatnekar and Neha Navarkar and Haritheja Etukuru and Xiaole Jiang and Kanad Patel and Dhawal Kabra and Nicholas Wojno and Radhika Ajay Prayage and Soumith Chintala and Lerrel Pinto and Nur Muhammad Mahi Shafiullah and Zichen Jeff Cui},
journal= {arXiv preprint arXiv:2602.11150},
year = {2026}
}