{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:YD4CXOW33UCVUO7LMZXQJMSECJ","short_pith_number":"pith:YD4CXOW3","schema_version":"1.0","canonical_sha256":"c0f82bbadbdd055a3beb666f04b2441260fe14389ca0937255243dcfa1e13f6c","source":{"kind":"arxiv","id":"2405.02292","version":1},"attestation_state":"computed","paper":{"title":"ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Alexander Herzog, ALOHA 2 Team, Ayzaan Wahid, Baruch Tabanpour, Chelsea Finn, Debidatta Dwibedi, Ian Storz, Jeff Bingham, Jonathan Hoech, Jonathan Tompson, Jorge Aldaco, Kenneth Draper, Kevin Zakka, Leila Takayama, Pete Florence, Robert Baruch, Sanky Chan, Sergey Yaroshenko, Sichun Xu, Spencer Goodrich, Ted Wahrburg, Thinh Nguyen, Tony Z. Zhao, Torr Hage, Travis Armstrong, Wayne Gramlich","submitted_at":"2024-02-07T23:58:10Z","abstract_excerpt":"Diverse demonstration datasets have powered significant advances in robot learning, but the dexterity and scale of such data can be limited by the hardware cost, the hardware robustness, and the ease of teleoperation. We introduce ALOHA 2, an enhanced version of ALOHA that has greater performance, ergonomics, and robustness compared to the original design. To accelerate research in large-scale bimanual manipulation, we open source all hardware designs of ALOHA 2 with a detailed tutorial, together with a MuJoCo model of ALOHA 2 with system identification. See the project website at aloha-2.gith"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2405.02292","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-07T23:58:10Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"df077df60df930bd8578302704bee0f43bfde42069c90fdc60d456e3bfbfbb07","abstract_canon_sha256":"95f9be649bc8745f0587fe809786825399fb7d90bfaac3444ace8dba8f735ca3"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:15:13.314373Z","signature_b64":"siSbg/lmBNLvrLEw6kV4nLkqfN96KJEoPIgzZH2sWJsPnY5oirO716JyxguNKtvHnuMMcNk8HZrhp0fDVON3CA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c0f82bbadbdd055a3beb666f04b2441260fe14389ca0937255243dcfa1e13f6c","last_reissued_at":"2026-07-05T08:15:13.313903Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:15:13.313903Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Alexander Herzog, ALOHA 2 Team, Ayzaan Wahid, Baruch Tabanpour, Chelsea Finn, Debidatta Dwibedi, Ian Storz, Jeff Bingham, Jonathan Hoech, Jonathan Tompson, Jorge Aldaco, Kenneth Draper, Kevin Zakka, Leila Takayama, Pete Florence, Robert Baruch, Sanky Chan, Sergey Yaroshenko, Sichun Xu, Spencer Goodrich, Ted Wahrburg, Thinh Nguyen, Tony Z. Zhao, Torr Hage, Travis Armstrong, Wayne Gramlich","submitted_at":"2024-02-07T23:58:10Z","abstract_excerpt":"Diverse demonstration datasets have powered significant advances in robot learning, but the dexterity and scale of such data can be limited by the hardware cost, the hardware robustness, and the ease of teleoperation. We introduce ALOHA 2, an enhanced version of ALOHA that has greater performance, ergonomics, and robustness compared to the original design. To accelerate research in large-scale bimanual manipulation, we open source all hardware designs of ALOHA 2 with a detailed tutorial, together with a MuJoCo model of ALOHA 2 with system identification. See the project website at aloha-2.gith"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.02292","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2405.02292/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2405.02292","created_at":"2026-07-05T08:15:13.313958+00:00"},{"alias_kind":"arxiv_version","alias_value":"2405.02292v1","created_at":"2026-07-05T08:15:13.313958+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.02292","created_at":"2026-07-05T08:15:13.313958+00:00"},{"alias_kind":"pith_short_12","alias_value":"YD4CXOW33UCV","created_at":"2026-07-05T08:15:13.313958+00:00"},{"alias_kind":"pith_short_16","alias_value":"YD4CXOW33UCVUO7L","created_at":"2026-07-05T08:15:13.313958+00:00"},{"alias_kind":"pith_short_8","alias_value":"YD4CXOW3","created_at":"2026-07-05T08:15:13.313958+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":17,"internal_anchor_count":0,"sample":[{"citing_arxiv_id":"2606.23296","citing_title":"IOI: Decoupling Kinematics and Physics for Interactive World Models","ref_index":2,"is_internal_anchor":false},{"citing_arxiv_id":"2606.23431","citing_title":"DexTeleop-0: Force-Aware Bimanual Dexterous Teleoperation with Ego-Centric Perception towards Shared Autonomy","ref_index":9,"is_internal_anchor":false},{"citing_arxiv_id":"2606.20867","citing_title":"FOCA: Future-Oriented Conditioning for Data-Efficient Vision-Language-Action Adaptation","ref_index":70,"is_internal_anchor":false},{"citing_arxiv_id":"2606.17520","citing_title":"GASE: Gaussian Splatting-Based Automated System for Reconstructing Embodied-Simulation Environments","ref_index":70,"is_internal_anchor":false},{"citing_arxiv_id":"2606.09215","citing_title":"MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation","ref_index":43,"is_internal_anchor":false},{"citing_arxiv_id":"2605.24934","citing_title":"HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos","ref_index":2,"is_internal_anchor":false},{"citing_arxiv_id":"2605.15949","citing_title":"A Reproducible and Physically Feasible Dynamic Parameter Identification Framework for a Low-Cost Robot Arm","ref_index":2,"is_internal_anchor":false},{"citing_arxiv_id":"2605.15949","citing_title":"A Reproducible and Physically Feasible Dynamic Parameter Identification Framework for a Low-Cost Robot Arm","ref_index":2,"is_internal_anchor":false},{"citing_arxiv_id":"2605.18722","citing_title":"Dexora: Open-source VLA for High-DoF Bimanual Dexterity","ref_index":9,"is_internal_anchor":false},{"citing_arxiv_id":"2509.21723","citing_title":"VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation","ref_index":2,"is_internal_anchor":false},{"citing_arxiv_id":"2409.12514","citing_title":"TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation","ref_index":25,"is_internal_anchor":false},{"citing_arxiv_id":"2601.20239","citing_title":"TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance","ref_index":1,"is_internal_anchor":false},{"citing_arxiv_id":"2605.10094","citing_title":"Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs","ref_index":30,"is_internal_anchor":false},{"citing_arxiv_id":"2605.10094","citing_title":"Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs","ref_index":30,"is_internal_anchor":false},{"citing_arxiv_id":"2604.05831","citing_title":"BiCoord: A Bimanual Manipulation Benchmark towards Long-Horizon Spatial-Temporal Coordination","ref_index":1,"is_internal_anchor":false},{"citing_arxiv_id":"2503.14734","citing_title":"GR00T N1: An Open Foundation Model for Generalist Humanoid Robots","ref_index":4,"is_internal_anchor":false},{"citing_arxiv_id":"2410.24164","citing_title":"$\\pi_0$: A Vision-Language-Action Flow Model for General Robot Control","ref_index":4,"is_internal_anchor":false}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/YD4CXOW33UCVUO7LMZXQJMSECJ","json":"https://pith.science/pith/YD4CXOW33UCVUO7LMZXQJMSECJ.json","graph_json":"https://pith.science/api/pith-number/YD4CXOW33UCVUO7LMZXQJMSECJ/graph.json","events_json":"https://pith.science/api/pith-number/YD4CXOW33UCVUO7LMZXQJMSECJ/events.json","paper":"https://pith.science/paper/YD4CXOW3"},"agent_actions":{"view_html":"https://pith.science/pith/YD4CXOW33UCVUO7LMZXQJMSECJ","download_json":"https://pith.science/pith/YD4CXOW33UCVUO7LMZXQJMSECJ.json","view_paper":"https://pith.science/paper/YD4CXOW3","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2405.02292&json=true","fetch_graph":"https://pith.science/api/pith-number/YD4CXOW33UCVUO7LMZXQJMSECJ/graph.json","fetch_events":"https://pith.science/api/pith-number/YD4CXOW33UCVUO7LMZXQJMSECJ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/YD4CXOW33UCVUO7LMZXQJMSECJ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/YD4CXOW33UCVUO7LMZXQJMSECJ/action/storage_attestation","attest_author":"https://pith.science/pith/YD4CXOW33UCVUO7LMZXQJMSECJ/action/author_attestation","sign_citation":"https://pith.science/pith/YD4CXOW33UCVUO7LMZXQJMSECJ/action/citation_signature","submit_replication":"https://pith.science/pith/YD4CXOW33UCVUO7LMZXQJMSECJ/action/replication_record"}},"created_at":"2026-07-05T08:15:13.313958+00:00","updated_at":"2026-07-05T08:15:13.313958+00:00"}