mlsanityData to 14 Oct 2026

The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments

arXiv 2109.10892 ↗First posted 22 Sep 2021cs.ROcited by 40

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Abstract (arXiv)

Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks restricting capabilities. We present a novel design that reduces size, weight, and cost, while supporting a variety of tasks. The core design consists of a two-wheeled differential-drive mobile base, a lift, and a telescoping arm configured to achieve Cartesian motion at the end of the arm. Design extensions include a 1 degree-of-freedom (DOF) wrist to stow a tool, a 2-DOF dexterous wrist to pitch and roll a tool, and a compliant gripper. We justify our design with anthropometry and mathematical models of static stability. We also provide empirical support from teleoperating and autonomously controlling a commercial robot based on our design (the Stretch RE1 from Hello Robot Inc.) to perform tasks in real homes.

Key facts. Cited by 40 papers in the map (data through 14 Oct 2026). First posted on arXiv 22 Sep 2021.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 1; 2022: 4; 2023: 12; 2024: 8; 2025: 7; 2026: 8.

40 papers.

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  1. 2022Human-to-Robot Imitation in the Wildcited by 161
  2. 2024Behavior Generation with Latent Actionscited by 160
  3. 2021The Surprising Effectiveness of Representation Learning for Visual Imitationcited by 154
  4. 2022Navigating to Objects in the Real Worldcited by 106
  5. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 106
  6. 2023On Bringing Robots Homecited by 101
  7. 2024HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigationcited by 71
  8. 2024PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigatorscited by 58
  9. 2024FLaRe: Achieving Masterful and Adaptive Robot Policies with Large-Scale Reinforcement Learning Fine-Tuningcited by 54
  10. 2023Navigating to Objects Specified by Imagescited by 51
  11. 2023SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real Worldcited by 48
  12. 2022Retrospectives on the Embodied AI Workshopcited by 46
28 more
  1. 2024OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Roboticscited by 34
  2. 2025MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulationcited by 34
  3. 2023Harmonic Mobile Manipulationcited by 17
  4. 2023UniTeam: Open Vocabulary Mobile Manipulation Challengecited by 15
  5. 2025FindingDory: A Benchmark to Evaluate Memory in Embodied Agentscited by 12
  6. 2023Selective Perception: Optimizing State Descriptions with Reinforcement Learning for Language Model Actorscited by 9
  7. 2024Seeing the Unseen: Visual Common Sense for Semantic Placementcited by 9
  8. 2024Towards Open-World Mobile Manipulation in Homes: Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challengecited by 9
  9. 2023ForceSight: Text-Guided Mobile Manipulation with Visual-Force Goalscited by 8
  10. 2023USA-Net: Unified Semantic and Affordance Representations for Robot Memorycited by 7
  11. 2025Fast-SmartWay: Panoramic-Free End-to-End Zero-Shot Vision-and-Language Navigationcited by 7
  12. 2023Evaluating Continual Learning on a Home Robotcited by 5
  13. 2025ObjectReact: Learning Object-Relative Control for Visual Navigationcited by 5
  14. 2023Spatial-Language Attention Policies for Efficient Robot Learningcited by 3
  15. 2025Affordance RAG: Hierarchical Multimodal Retrieval with Affordance-Aware Embodied Memory for Mobile Manipulationcited by 3
  16. 2026Safe and Interpretable Multimodal Path Planning for Multi-Agent Cooperationcited by 3
  17. 2026LangMap: A Human-Verified Benchmark for Hierarchical Open-Vocabulary Goal Navigationcited by 2
  18. 2026SpatialAnt: Autonomous Zero-Shot Robot Navigation via Active Scene Reconstruction and Visual Anticipationcited by 2
  19. 2022Sparse Representation Learning with Modified q-VAE towards Minimal Realization of World Modelcited by 1
  20. 2024HomeRobot Open Vocabulary Mobile Manipulation Challenge 2023 Participant Report (Team KuzHum)cited by 1
  21. 2025AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AIcited by 1
  22. 2025MatterDoor: Sampling Zero-shot Spatio-semantic Priors using Generative Modelscited by 1
  23. 2026YOR: Your Own Mobile Manipulator for Generalizable Roboticscited by 1
  24. 2026When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulationcited by 1
  25. 2023Early and Accurate Detection of Tomato Leaf Diseases Using TomFormercited by 0
  26. 2026Low-Burden LLM-Based Preference Learning: Personalizing Assistive Robots from Natural Language Feedback for Users with Paralysiscited by 0
  27. 2026Verifiable Foundation Models for Robot Safetycited by 0
  28. 2026Splat2Act: From Captured Scenes to Personalized VLA Manipulationcited by 0