ALOHA 2：一种用于双手遥操作的增强型低成本硬件
机器人学
2024-05-07 v1 机器学习
摘要
多样化的演示数据集推动了机器人学习的重大进展，但此类数据的灵巧性和规模可能受到硬件成本、硬件鲁棒性以及遥操作便捷性的限制。我们推出了 ALOHA 2，这是 ALOHA 的增强版本，与原始设计相比，具有更优越的性能、人体工程学设计和鲁棒性。为了加速大规模双手操作的研究，我们开源了 ALOHA 2 的所有硬件设计，并附有详细教程，同时提供了带有系统辨识的 ALOHA 2 的 MuJoCo 模型。请访问项目网站 aloha-2.github.io。
引用
@article{arxiv.2405.02292,
title = {ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation},
author = {ALOHA 2 Team and Jorge Aldaco and Travis Armstrong and Robert Baruch and Jeff Bingham and Sanky Chan and Kenneth Draper and Debidatta Dwibedi and Chelsea Finn and Pete Florence and Spencer Goodrich and Wayne Gramlich and Torr Hage and Alexander Herzog and Jonathan Hoech and Thinh Nguyen and Ian Storz and Baruch Tabanpour and Leila Takayama and Jonathan Tompson and Ayzaan Wahid and Ted Wahrburg and Sichun Xu and Sergey Yaroshenko and Kevin Zakka and Tony Z. Zhao},
journal= {arXiv preprint arXiv:2405.02292},
year = {2024}
}
备注
Project website: aloha-2.github.io