For the past year we've been working on ALOHA Unleashed 🌋 Google DeepMind - pushing the scale and dexterity of tasks on our ALOHA 2 fleet. Here is a thread with some of the coolest videos! The first task is hanging a shirt on a hanger (autonomous 1x)

Here's the policy on a variety of shirt colors (4x speed).

one time @tonyzzhao took off his sweater to try it with the model. The policy was never trained on an adult sized shirt or any type of sweaters, but we found it's able to generalize.

We also are able to learn precise insertion tasks - like replacing the finger on another robot in our fleet Here's a closeup of that task.

Here's another precise industrial gear insertion task which requires a tight friction fit and meshing the teeth on the gears.

We also tried pushing the dexterity even further with our shoelace tying task, which requires straightening the shoe and laces, then tying the bunny ears on the shoe.(1x speed):

More examples of our shoelace tying policy (4x speed):

Check out @tonyzzhao's tweet for a continuous-take video

this was a fun project with an amazing team: @tonyzzhao, @JonathanTompson, @DannyDriess, @peteflorence, @coolboi95, @chelseabfinn @SpencerGoodric6

@GoogleDeepMind Cool work!

@GoogleDeepMind Impressive!!

@GoogleDeepMind thanks Ashvin! when are you making your comeback to robotics? haha