A low-cost whole-body teleoperation system enables effective imitation learning for complex bimanual mobile manipulation by co-training on mobile and static demonstration datasets.
Adaptive skill coordination for robotic mobile manipulation
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A visibility-aware mobile grasping system with iterative whole-body planning and behavior-tree subgoal generation achieves 68.8% success in unknown static and 58% in dynamic environments, outperforming a baseline by 22.8% and 18%.
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Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
A low-cost whole-body teleoperation system enables effective imitation learning for complex bimanual mobile manipulation by co-training on mobile and static demonstration datasets.
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Visibility-Aware Mobile Grasping in Dynamic Environments
A visibility-aware mobile grasping system with iterative whole-body planning and behavior-tree subgoal generation achieves 68.8% success in unknown static and 58% in dynamic environments, outperforming a baseline by 22.8% and 18%.