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…
Dual Arm datasets in the catalog
Real-world IndexedMobile ALOHA
Source: Stanford IRIS & REAL Labs
- 1.1K
- 5.8
- 4
Simulation IndexedManiSkill2
Source: UC San Diego Hao Su Lab
- 30K
- 166.7
- 3
Real-world IndexedALOHA Static Bimanual Demos
Source: Stanford IRIS & REAL Labs
- 1.0K
- 5.6
- 4
Synthetic IndexedMimicGen
Source: NVIDIA GEAR Lab
- 50K
- 277.8
- 3