ALOHA2 Robot Kitchen Application Scenario Reproduction Report

Abstract

ALOHA2 is an enhanced version of the dual-arm teleoperated robot ALOHA, featuring higher performance and robustness compared to the original design, while also being more ergonomic. Like ALOHA, ALOHA2 consists of two grippers and two ViperX 6-DoF arms, as well as two smaller WidowX arms. Users control the follower mechanical arms by operating the leader mechanical arms through back-driving. The device also includes cameras that generate images from multiple viewpoints, allowing for RGB data collection during teleoperation. The robot is mounted on a 48-inch x 30-inch table, equipped with an aluminum frame that provides additional mounting points for cameras and gravity compensation systems.

Figures (21)

• Figure 1: ALOHA2 Overview
• Figure 16: Pan movement action sequence step 1
• Figure 17: Pan movement action sequence step 2
• Figure 24: The success rate of original paper's pan grasping and placement
• Figure 25: The scene of grasping and placing a frying pan in the original paper