-
Notifications
You must be signed in to change notification settings - Fork 6
Expand file tree
/
Copy pathindex.html
More file actions
376 lines (352 loc) · 23.1 KB
/
Copy pathindex.html
File metadata and controls
376 lines (352 loc) · 23.1 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description" content="Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation">
<meta name="keywords" content="Robotics, Mobile Manipulation, Bimanual Manipulation">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Mobile ALOHA</title>
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">
<link rel="stylesheet" href="./static/css/bulma.min.css">
<link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
<link rel="stylesheet" href="./static/css/bulma-slider.min.css">
<link rel="stylesheet" href="./static/css/fontawesome.all.min.css">
<link rel="stylesheet" href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
<link rel="stylesheet" href="./static/css/index.css">
<!-- <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/5.15.3/css/all.min.css" integrity="sha512-iBBXm8fW90+nuLcSKlbmrPcLa0OT92xO1BIsZ+ywDWZCvqsWgccV3gFoRBv0z+8dLJgyAHIhR35VZc2oM/gI1w==" crossorigin="anonymous" referrerpolicy="no-referrer" /> -->
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
<script defer src="./static/js/fontawesome.all.min.js"></script>
<script src="./static/js/bulma-carousel.min.js"></script>
<script src="./static/js/bulma-slider.min.js"></script>
<script src="./static/js/index.js"></script>
<link rel="icon" href="./favicon.ico">
<meta property="og:site_name" content="Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation" />
<meta property="og:type" content="video.other" />
<meta property="og:title" content="Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation" />
<meta property="og:description" content="by Zipeng Fu*, Tony Z. Zhao* and Chelsea Finn at Stanford" />
<meta property="og:url" content="https://mobile-aloha.github.io/" />
<meta property="og:image" content="https://mobile-aloha.github.io/static/images/preview.gif" />
<meta property="og:image:secure" content="https://mobile-aloha.github.io/static/images/preview.gif" />
<meta property="og:video" content="" />
<meta property="og:video:secure" content="" />
<meta property="og:image:width" content="1280" />
<meta property="og:image:height" content="720" />
<meta property="article:publisher" content="https://mobile-aloha.github.io" />
<meta name="twitter:card" content="summary_large_image" />
<meta name="twitter:title" content="Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation" />
<meta name="twitter:description" content="by Zipeng Fu*, Tony Z. Zhao* and Chelsea Finn at Stanford" />
<meta name="twitter:url" content="https://mobile-aloha.github.io/" />
<meta name="twitter:image" content="https://mobile-aloha.github.io/static/images/preview.gif" />
<meta name="twitter:site" content="@zipengfu" />
<meta name="twitter:card" content="player" />
<meta name="twitter:player" content="" />
<meta name="twitter:player:width" content="1280" />
<meta name="twitter:player:height" content="720" />
<script src="https://www.youtube.com/iframe_api"></script>
</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container">
<div class="columns is-centered">
<div class="column is-two-thirds is-centered has-text-centered">
<h1 class="title is-1 publication-title">Mobile ALOHA</h1>
<h2 class="subtitle is-2 publication-subtitle">Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation</h2>
<div class="is-size-4 publication-authors">
<span class="author-block">
<a href="https://zipengfu.github.io/">Zipeng Fu</a>*
<a href="https://tonyzhaozh.github.io/">Tony Z. Zhao</a>*
<a href="https://ai.stanford.edu/~cbfinn/">Chelsea Finn</a>
</span>
</div>
<image src="./static/images/logo.jpg" style="width: 80%;"></image>
<div>
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="./resources/mobile-aloha.pdf"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<!-- arXiv Link. -->
<span class="link-block">
<a href="http://arxiv.org/abs/2401.02117"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
<!-- Video Link. -->
<!-- <span class="link-block">
<a href=""
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>Video</span>
</a>
</span> -->
<!-- Tutorial Link. -->
<span class="link-block">
<a href="https://docs.google.com/document/d/1_3yhWjodSNNYlpxkRCPIlvIAaQ76Nqk2wsqhnEVM6Dc" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-book"></i>
</span>
<span>Tutorial</span>
</a>
</span>
<!-- Datasets Link. -->
<span class="link-block">
<a href="https://drive.google.com/drive/folders/1FP5eakcxQrsHyiWBRDsMRvUfSxeykiDc" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-database"></i>
</span>
<span>Datasets</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/MarkFzp/mobile-aloha" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab" data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512" data-fa-i2svg=""><path fill="currentColor" d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"></path></svg><!-- <i class="fab fa-github"></i> Font Awesome fontawesome.com -->
</span>
<span>Hardware Code</span>
</a>
</span>
<span class="link-block">
<a href="https://github.com/MarkFzp/act-plus-plus" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab" data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512" data-fa-i2svg=""><path fill="currentColor" d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"></path></svg><!-- <i class="fab fa-github"></i> Font Awesome fontawesome.com -->
</span>
<span>ML Code</span>
</a>
</span>
<span class="link-block">
<a href="./cn.html" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-language"></i>
</span>
<span>中文</span>
</a>
</span>
</div>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-thirds is-centered has-text-centered">
<video download controls autoplay loop muted playsinline src="./resources/mobile-aloha.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">Team</h2>
<div class="columns is-centered">
<div class="column is-one-fifth is-centered has-text-centered">
<a href="https://zipengfu.github.io" target="_blank" style="border-bottom: none;">
<span class="image" ><img src="./static/images/ZipengFu.jpeg" alt="" style="width: 70%; margin-left: auto; margin-right: auto;" /></span>
</a>
<span style="font-weight: bold; font-size: 130%;">
<a href="https://zipengfu.github.io" target="_blank" style="color: black;">
Zipeng Fu
</a>
</span> <br>
(project co-lead)
</div>
<div class="column is-one-fifth is-centered has-text-centered">
<a href="https://tonyzhaozh.github.io/" target="_blank" style="border-bottom: none;">
<span class="image"><img src="./static/images/TonyZhao.jpeg" alt="" style="width: 70%; margin-left: auto; margin-right: auto;" /></span>
</a>
<span style="font-weight: bold; font-size: 130%;">
<a href="https://tonyzhaozh.github.io/" target="_blank" style="color: black;">
Tony Z. Zhao
</a>
</span> <br>
(project co-lead)
</div>
<div class="column is-one-fifth is-centered has-text-centered">
<a href="https://ai.stanford.edu/~cbfinn/" target="_blank" style="border-bottom: none;">
<span class="image"><img src="./static/images/ChelseaFinn.jpeg" alt="" style="width: 70%; margin-left: auto; margin-right: auto;" /></span>
</a>
<span style="font-weight: bold; font-size: 130%;">
<a href="https://ai.stanford.edu/~cbfinn/" target="_blank" style="color: black;">
Chelsea Finn
</a>
</span> <br>
(advisor)
</div>
</div>
</section>
<section class="section">
<div class="container">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-two-thirds">
<h2 class="title is-2">Abstract</h2>
<div class="content has-text-justified">
<p>
Imitation learning from human demonstrations has shown impressive performance in robotics. However, most results focus on table-top manipulation, lacking the mobility and dexterity necessary for generally useful tasks.
In this work, we develop a system for imitating mobile manipulation tasks that are bimanual and require whole-body control.
We first present Mobile ALOHA, a low-cost and whole-body teleoperation system for data collection. It augments the ALOHA system with a mobile base, and a whole-body teleoperation interface.
Using data collected with Mobile ALOHA, we then perform supervised behavior cloning and find that co-training with existing static ALOHA datasets boosts performance on mobile manipulation tasks.
With 50 demonstrations for each task, co-training can increase success rates by up to 90%, allowing Mobile ALOHA to autonomously complete complex mobile manipulation tasks such as sauteing and serving a piece of shrimp,
opening a two-door wall cabinet to store heavy cooking pots, calling and entering an elevator,
and lightly rinsing a used pan using a kitchen faucet.
</p>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">Autonomous Skills</h2>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/cook_shrimp.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/wipe_wine.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/take_elevator.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/use_cabinets.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/wash_pan.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/push_chairs.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/high_five_third_person.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/high_five_moving_cam.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">Teleoperation</h2>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<div class="publication-video">
<iframe src="https://www.youtube.com/embed/mnLVbwxSdNM" title="Mobile ALOHA Robot - Cooking a 3-Course Cantonese Meal" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<div class="publication-video">
<iframe src="https://www.youtube.com/embed/HaaZ8ss-HP4" title="Mobile ALOHA: Your Housekeeping Robot" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/teleop/teleop_restroom_10x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">Robustness and Repeatability</h2>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/wipe_wine_9_trials_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/take_elevator_5_trials_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/use_cabinets_3_pots_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/use_cabinets_distractors.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/push_chairs_morning_7_trials_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/push_chairs_night_6_trials_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">Failures</h2>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<p>We share some funny robot failures along our journey of hardware and software/AI co-development. </p>
</div>
</div>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<div class="publication-video">
<iframe src="https://www.youtube.com/embed/xGNNW6smDPQ" title="Mobile ALOHA funny failures" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-two-thirds">
<h2 class="title is-2">Acknowledgements</h2>
<div class="content has-text-justified">
<p>
We thank the Stanford Robotics Center and Steve Cousins for providing facility support for our experiments. We also thank members of Stanford IRIS Lab: Lucy X. Shi and Tian Gao, and members of Stanford REAL Lab: Cheng Chi, Zhenjia Xu, Yihuai Gao, Huy Ha, Zeyi Liu, Xiaomeng Xu, Chuer Pan and Shuran Song, for providing extensive helps for our experiments. We appreciate much photographing by Qingqing Zhao, and feedbacks from and helpful discussions with Karl Pertsch, Boyuan Chen, Ziwen Zhuang, Quan Vuong and Fei Xia. This project is supported by the Boston Dynamics AI Institute and ONR grant N00014-21-1-2685. Zipeng Fu is supported by Stanford Graduate Fellowship.
</p>
</div>
</div>
</div>
</div>
</section>
<section class="section" id="BibTeX">
<div class="container content">
<h2 class="titile">BibTeX</h2>
<pre><code>@inproceedings{fu2024mobile,
author = {Fu, Zipeng and Zhao, Tony Z. and Finn, Chelsea},
title = {Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation},
booktitle = {{Conference on Robot Learning (CoRL)}},
year = {2024},
}</code></pre>
</div>
</section>
<footer class="footer">
<div class="container">
<div class="content has-text-centered">
<p>Page template borrowed from <a href="https://nerfies.github.io/"><span class="dnerf">Nerfies</span></a> and <a href="https://robot-parkour.github.io/"><span class="dnerf">Robot-Parkour</span></a>.</p>
</div>
</div>
</footer>
</body>
</html>