🎉Introducing our research: ULOHA🌊🤖🏖️ We built an underwater bimanual robot learning platform with custom hardware and software extending LeRobot—from demos to autonomous skills. Hardware & software coming soon! ⭐A GitHub star would mean a lot to us!

We developed ULOHA, a custom platform for underwater bimanual robot learning🌊 Two dry leader arms control two underwater followers. Each arm has six actuated arm joints and one actuated gripper (seven motors)! Three cameras provide top, left-hand, and right-hand views. (2/n)

Two hands on land. Two robot arms underwater. 🌊🤖 With ULOHA, an operator lifts, inserts, and retrieves floating objects through bimanual teleoperation—collecting demonstrations for underwater robot learning. Watch the hand-camera views. 👀 (3/n)

How far can robot learning go underwater? 🌊🤖 ULOHA explores: • 9 underwater bimanual tasks • Manipulation under bubbles • SmolVLA with/without RTC • Training and evaluation in air and water Learned from teleoperated demonstrations. Successes—and failures—in action. (4/n)

ULOHA: An Underwater Bimanual Robot System for Robot Learning Masato Kobayashi, Takeru Tsunoori • Custom leader–follower robot • Underwater🤖 via ACT, Diffusion Policy, and SmolVLA&RTC...more 📄 Paper: 🎬 Project page & Video:

wild, starred!

Thank you!

Really curious about your underwater arms, what actuators are you putting in those ?

Thank you! More info!

so cool!

Thank you!!!

curious how the teleop feels with water drag on the arms

Thank you! It seems that the robot on the water-tank side is being affected by buoyancy.

Underwater robotics is actually super cool and demanded. Well deserved ⭐️

Thank you very much⭐!!!!!