Mobile ALOHA: Learning Bimanual Mobile Manipulation
├── Introduction
│   └── Imitation Learning in Robotics
├── Mobile ALOHA System
│   ├── Overview of Mobile ALOHA Hardware
│   └── Technical Specifications
├── Training Approach
│   ├── Co-Training with Static ALOHA Data
│   └── Methodology of Direct Imitation Learning
├── Experimental Setup
│   ├── Defining Tasks for Evaluation
│   └── Experimental Results and Findings
├── Studies and Analysis
│   ├── Ablation Studies
│   └── User Study for Teleoperation Effectiveness
└── Conclusion and Future Work
    ├── Summary of Achievements
    └── Future Development Directions

1. Introduction

Imitation Learning in Robotics

• Discusses the potential and challenges of imitation learning for generalist robots, emphasizing the need for whole-body coordination in mobility and manipulation tasks.

2. Mobile ALOHA System

Overview of Mobile ALOHA Hardware

• Describes the low-cost mobile manipulator setup of Mobile ALOHA, capable of performing a wide range of household tasks.

Technical Specifications

• Details the system's capabilities, including degrees of freedom, weight, payload capacity, and battery life.

3. Training Approach

Co-Training with Static ALOHA Data

• Explores the benefits and process of enhancing Mobile ALOHA's performance by co-training with existing static ALOHA datasets.

Methodology of Direct Imitation Learning

• Outlines the training process involving the concatenation of base and arm actions.

4. Experimental Setup

Defining Tasks for Evaluation

• Details various tasks designed to evaluate different aspects of Mobile ALOHA's capabilities.

Experimental Results and Findings