ALOHA2 Robot Kitchen Application Scenario Reproduction Report

ALOHA2 is an enhanced version of the dual-arm teleoperated robot ALOHA [1], featuring higher performance and robustness compared to the original design [2], while also being more ergonomic. Like ALOHA, ALOHA2 consists of two grippers and two ViperX 6-DoF arms, as well as two smaller WidowX arms. Users control the follower mechanical arms by operating the leader mechanical arms through back-driving. The device also includes cameras that generate images from multiple viewpoints, allowing for RGB data collection during teleoperation. The robot is mounted on a 48-inch 30-inch table, equipped with an aluminum frame that provides additional mounting points for cameras and gravity compensation systems (as shown in Figure 1).