机器人RSS 20252025
Mobile ALOHA 2: Bimanual Mobile Manipulation with Co-Training
Tony Zhao, Zipeng Fu, Chelsea FinnStanford University
摘要
We present Mobile ALOHA 2, an improved system for bimanual mobile manipulation with whole-body co-training. Mobile ALOHA 2 achieves significant improvements in autonomy and task success rates through a novel co-training approach that jointly learns locomotion and dual-arm manipulation policies.
mobile manipulationbimanualco-trainingteleoperationautonomy
技术细节
数据集
测试机器人
Mobile ALOHAALOHA 2
模型骨架
ACT (Action Chunking with Transformers) + Co-Training
编码器
Stereo ViT + Proprioceptive Encoder
解码器
ACT Bimanual Decoder (6 layers)