Led by Google DeepMind, we present ALOHA 2 🤙: An Enhanced Low-Cost Hardware for Bimanual Teleoperation. ALOHA 2 🤙 significantly improves the durability of the original ALOHA 🏖️, enabling fleet-scale data collection on more complex tasks. As usual, everything is open-sourced!

Before diving into the hardware, we also release a *proper* ALOHA sim model with SysID, thanks to @kevin_zakka @the_real_btaba @ayzwah. Even if you don’t have the hardware, there is now a way to perform complex tasks with ALOHA in Mujoco!

We start by improving the grippers: to make them grasp better and more robust. We use a low-friction rail design that transmits 2x more force to the gripper tips. We also change the grip tape layout to improve grasping of small objects. Led by @SpencerGoodric6 and Thinh Nguyen

We use the same rail design on the leader side. To further improve ergonomics, we replace the original servo with a lower gear ratio one that is easier to backdrive. This results in a 10x reduction in friction that the operator needs to overcome when opening grippers!

Next, we improve the gravity compensation of the leader arm. With a constant-force retractor and a spring-pulley system, the arm can "float" in most places. It is also much more durable than the original rubberbands!

Last but not least: we simplify the frame surrounding the workcell while maintaining the rigidity of the camera mounting points. This opens up the space for both human-robot collaborators and props for the robot to interact with.

To learn more, please visit our website: Paper: Tutorial: Designs: Sim:

Thanks to the core ALOHA 2 Team: @RandomRobotics @chelseabfinn @peteflorence @SpencerGoodric6 Thinh Nguyen @JonathanTompson @ayzwah @tonyzzhao and those who helped with hardware, software, data, simulation, and user studies: Jorge Aldaco, Robert Baruch, Jeff Bingham, Sanky Chan, Kenneth Draper, @debidatta, Wayne Gramlich, Torr Hage, @AlexHerzog00, Jonathan Hoech, Ian Storz, @the_real_btaba, @leilatakayama, Ted Wahrburg, Sichun Xu, Sergey Yaroshenko, and @kevin_zakka

@GoogleDeepMind @tonyzzhao This is an incredibly fantastic achievement! I'm excited! Please look forward to our report on interesting research about imitation learning as well! This is part of that research.

@GoogleDeepMind good work Tony / team

@GoogleDeepMind lmfao @peteflorence and @andyzeng_ 🤣