ALOHA 2
Bimanual ViperX 300 station · Trossen Robotics / Stanford + Google DeepMind
- 12
- 0.75 kg
- 750 mm
- 50 Hz
- Mains powered station
- Continuous duty
- Workstation with 2 arms + 4 cameras
- USB serial to 4 arms, ROS
Actuators
3Joints and end effectors that produce the action vector recorded in datasets.
Follower arms
×2ViperX 300 6-DoF
750 g payload each
Leader arms
×2WidowX 250 6-DoF
teleoperation masters
Grippers
×2Low-friction parallel jaw
redesigned in ALOHA 2 for fine insertion
Motors & drives
2The drive units inside those joints, with torque and reduction details.
Dynamixel XM540-W270
Smart servo
10.6 N·m stall, shoulder/elbow
Dynamixel XM430-W350
Smart servo
wrist joints
Sensors
4Observation streams available to a policy running on this platform.
Wrist cameras
RGB
2 × 640×480 @ 50 fps
Top camera
RGB
overhead scene view
Low camera
RGB
table-level view for insertion
Joint states
Servo encoders
14-dim action vector at 50 Hz
Bimanual teleoperation station used for ALOHA, Mobile ALOHA and ALOHA Unleashed datasets.
Data recorded on this hardware
Resolving related models, datasets and papers…