机器人ICRA 20252025

ALOHA 2: Bimanual Teleoperation System

Tony Zhao, Zipeng Fu, Deepak Pathak, Chelsea Finn et al.Stanford

摘要

ALOHA 2 is an improved bimanual teleoperation system with enhanced haptic feedback, reduced latency, and improved dexterity for complex two-handed manipulation tasks.

bimanual manipulationteleoperationhaptic feedbackdexteritytwo-handed tasks

技术细节

数据集

ALOHA 2 Dataset (1K+ bimanual tasks)

仿真平台

MuJoCo PyBullet

测试机器人

ALOHA 2 (Custom Bimanual System)

模型骨架

ACT (Action Chunking with Transformers)

编码器

Stereo Camera ViT + Proprioceptive Encoder

解码器

ACT Bimanual Decoder (6 layers)