mlsanityData to 7 Oct 2026

Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

arXiv 2401.02117 ↗First posted 4 Jan 2024cs.RO cs.AI cs.CVcited by 377

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

Imitation learning from human demonstrations has shown impressive performance in robotics. However, most results focus on table-top manipulation, lacking the mobility and dexterity necessary for generally useful tasks. In this work, we develop a system for imitating mobile manipulation tasks that are bimanual and require whole-body control. We first present Mobile ALOHA, a low-cost and whole-body teleoperation system for data collection. It augments the ALOHA system with a mobile base, and a whole-body teleoperation interface. Using data collected with Mobile ALOHA, we then perform supervised behavior cloning and find that co-training with existing static ALOHA datasets boosts performance on mobile manipulation tasks. With 50 demonstrations for each task, co-training can increase success rates by up to 90%, allowing Mobile ALOHA to autonomously complete complex mobile manipulation tasks such as sauteing and serving a piece of shrimp, opening a two-door wall cabinet to store heavy cooking pots, calling and entering an elevator, and lightly rinsing a used pan using a kitchen faucet. Project website: https://mobile-aloha.github.io

Key facts. Cited by 377 papers in the map (data through 7 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 66 of its 97 references that are in the map. First posted on arXiv 4 Jan 2024.

Builds on

66 of 97 references.

Closest ancestors · 12

Same direction, newest first

  1. 2023Waypoint-Based Imitation Learning for Robotic Manipulation26 Jul
  2. 2023Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation7 Jul
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware23 Apr
  4. 2023MimicPlay: Long-Horizon Imitation Learning by Watching Human Play24 Feb
  5. 2022Latent Plans for Task-Agnostic Offline Reinforcement Learning19 Sep
  6. 2022Behavior Transformers: Cloning k modes with one stone22 Jun
  7. 2022Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning6 Apr
  8. 2022Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation18 Mar
  9. 2021Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation9 Dec
  10. 2021The Surprising Effectiveness of Representation Learning for Visual Imitation2 Dec
  11. 2021Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration13 May
  12. 2018Task-Embedded Control Networks for Few-Shot Imitation Learning8 Oct

Other references · 54

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  3. 2020Denoising Diffusion Implicit Modelscited by 9,655
  4. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  5. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,730
  6. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,302
  7. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  8. 2022R3M: A Universal Visual Representation for Robot Manipulationcited by 678
  9. 2021CLIPort: What and Where Pathways for Robotic Manipulationcited by 617
  10. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 545
  11. 2021Implicit Behavioral Cloningcited by 442
  12. 2020Transporter Networks: Rearranging the Visual World for Robotic Manipulationcited by 342
38 more
  1. 2021Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasetscited by 248
  2. 2022Real-World Robot Learning with Masked Visual Pre-trainingcited by 241
  3. 2017One-Shot Imitation Learningcited by 232
  4. 2017One-Shot Visual Imitation Learning via Meta-Learningcited by 225
  5. 2023TidyBot: Personalized Robot Assistance with Large Language Modelscited by 219
  6. 2023RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shotcited by 173
  7. 2022GNM: A General Navigation Model to Drive Any Robotcited by 161
  8. 2022Human-to-Robot Imitation in the Wildcited by 157
  9. 2018One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learningcited by 146
  10. 2021Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videoscited by 116
  11. 2019AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videoscited by 105
  12. 2022From Play to Policy: Conditional Behavior Generation from Uncurated Robot Datacited by 103
  13. 2023On Bringing Robots Homecited by 101
  14. 2017Vision-Based Multi-Task Manipulation for Inexpensive Robots Using End-To-End Learning from Demonstrationcited by 100
  15. 2022Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotioncited by 98
  16. 2021Learning by Watching: Physical Imitation of Manipulation Skills from Human Videoscited by 87
  17. 2020Transformers for One-Shot Visual Imitationcited by 77
  18. 2018Robot Learning in Homes: Improving Generalization and Reducing Dataset Biascited by 75
  19. 2020Model-Based Inverse Reinforcement Learning from Visual Demonstrationscited by 52
  20. 2023Robot Learning with Sensorimotor Pre-trainingcited by 51
  21. 2023Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperationcited by 49
  22. 2022Vision-Based Manipulators Need to Also See from Their Handscited by 46
  23. 2022Multi-skill Mobile Manipulation for Object Rearrangementcited by 46
  24. 2023AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wildcited by 46
  25. 2022Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulatorscited by 32
  26. 2021Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulationcited by 30
  27. 2023Polybot: Training One Policy Across Robots While Embracing Variabilitycited by 28
  28. 2022Robot Learning of Mobile Manipulation with Reachability Behavior Priorscited by 20
  29. 2019Whole-Body Geometric Retargeting for Humanoid Robotscited by 19
  30. 2023Causal Policy Gradient for Whole-Body Mobile Manipulationcited by 18
  31. 2021Hierarchical Neural Dynamic Policiescited by 17
  32. 2023Harmonic Mobile Manipulationcited by 16
  33. 2022iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robotscited by 15
  34. 2023Skill Transformer: A Monolithic Policy for Mobile Manipulationcited by 15
  35. 2021NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulationcited by 13
  36. 2019A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homescited by 12
  37. 2019Perceptual Values from Observationcited by 11
  38. 2021Learning Periodic Tasks from Human Demonstrationscited by 10

50 most cited of 54 All 54 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 109; 2025: 154; 2026: 114.

377 papers.

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  1. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,297
  2. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  3. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,167
  4. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 670
  5. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  6. 2025RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulationcited by 477
  7. 2025CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Modelscited by 440
  8. 2024Robotic Control via Embodied Chain-of-Thought Reasoningcited by 340
  9. 2024TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulationcited by 331
  10. 2024Diffusion Policy Policy Optimizationcited by 255
  11. 2025Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Modelscited by 216
  12. 2025EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agentscited by 213
38 more
  1. 2025DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledgecited by 203
  2. 2025Thinking with Images for Multimodal Reasoning: Foundations, Methods, and Future Frontierscited by 193
  3. 2025HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Modelcited by 176
  4. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  5. 2024OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learningcited by 167
  6. 2024HumanPlus: Humanoid Shadowing and Imitation from Humanscited by 164
  7. 2024Data Scaling Laws in Imitation Learning for Robotic Manipulationcited by 144
  8. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  9. 2024Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goalscited by 131
  10. 2025Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulationcited by 129
  11. 2025RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twinscited by 117
  12. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representationscited by 115
  13. 2024Learning Human-to-Humanoid Real-Time Whole-Body Teleoperationcited by 112
  14. 2024ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulationcited by 106
  15. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 101
  16. 2024ExBody2: Advanced Expressive Humanoid Whole-Body Controlcited by 75
  17. 2024Learning Visuotactile Skills with Two Multifingered Handscited by 71
  18. 2025CogVLA: Cognition-Aligned Vision-Language-Action Model via Instruction-Driven Routing & Sparsificationcited by 70
  19. 2024Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learningcited by 69
  20. 2024RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)cited by 68
  21. 20243D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensingcited by 67
  22. 2025HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpitcited by 65
  23. 2025Humanoid Policy ~ Human Policycited by 65
  24. 2025WorldEval: World Model as Real-World Robot Policies Evaluatorcited by 64
  25. 2024Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progresscited by 63
  26. 2024Real-World Robot Applications of Foundation Models: A Reviewcited by 60
  27. 2024Visual Whole-Body Control for Legged Loco-Manipulationcited by 58
  28. 2025Vidar: Embodied Video Diffusion Model for Generalist Manipulationcited by 58
  29. 2024Diffusion-VLA: Generalizable and Interpretable Robot Foundation Model via Self-Generated Reasoningcited by 57
  30. 2025Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learningcited by 57
  31. 2025FLOWER: Democratizing Generalist Robot Policies with Efficient Vision-Language-Action Flow Policiescited by 56
  32. 2024RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulationcited by 55
  33. 2024GRUtopia: Dream General Robots in a City at Scalecited by 54
  34. 2025From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignmentcited by 51
  35. 2026Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisonscited by 51
  36. 2024TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correctioncited by 50
  37. 2025FlowVLA: Visual Chain of Thought-based Motion Reasoning for Vision-Language-Action Modelscited by 50
  38. 2024Generalizable Humanoid Manipulation with 3D Diffusion Policiescited by 49

50 most cited of 377 All 377 (JSON)

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  1. 2024ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation
  2. 2024ALOHA Unleashed: A Simple Recipe for Robot Dexterity
  3. 2025EMMA: Scaling Mobile Manipulation via Egocentric Human Data
  4. 2025HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
  5. 2026DexRoam: Learning Mobile Bimanual Dexterous Manipulation from Egocentric Whole-Body Human Demonstrations ↗
  6. 2025AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AI
  7. 2024Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation
  8. 2022A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies