mlsanityData to 7 Oct 2026

ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation

arXiv 2405.02292 ↗First posted 7 Feb 2024cs.RO cs.LGcited by 61

On the map: World models → Embodied and robot world models

Abstract (arXiv)

Diverse demonstration datasets have powered significant advances in robot learning, but the dexterity and scale of such data can be limited by the hardware cost, the hardware robustness, and the ease of teleoperation. We introduce ALOHA 2, an enhanced version of ALOHA that has greater performance, ergonomics, and robustness compared to the original design. To accelerate research in large-scale bimanual manipulation, we open source all hardware designs of ALOHA 2 with a detailed tutorial, together with a MuJoCo model of ALOHA 2 with system identification. See the project website at aloha-2.github.io.

Key facts. Cited by 61 papers in the map (data through 7 Oct 2026). Placed in Embodied and robot world models, one of 11 directions in World models. Builds on 4 of its 8 references that are in the map. First posted on arXiv 7 Feb 2024.

Builds on

4 of 8 references.

References · 4

  1. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  2. 2022Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Itemscited by 601
  3. 2022Robot Operating System 2: Design, Architecture, and Uses In The Wildcited by 190
  4. 2017Intel RealSense Stereoscopic Depth Camerascited by 82

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 18; 2025: 21; 2026: 22.

61 papers.

Sort:

By area:

  1. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,297
  2. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,167
  3. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 670
  4. 2024TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulationcited by 331
  5. 2024Understanding World or Predicting Future? A Comprehensive Survey of World Modelscited by 161
  6. 2024EgoMimic: Scaling Imitation Learning via Egocentric Videocited by 160
  7. 2025RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twinscited by 117
  8. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 104
  9. 2024Vision Language Models are In-Context Value Learnerscited by 84
  10. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 82
  11. 2026DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Controlcited by 71
  12. 2024RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)cited by 68
38 more
  1. 2025WorldEval: World Model as Real-World Robot Policies Evaluatorcited by 64
  2. 2025Evaluating Gemini Robotics Policies in a Veo World Simulatorcited by 50
  3. 2024SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deploymentcited by 48
  4. 2025Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulationcited by 42
  5. 2024FLIP: Flow-Centric Generative Planning as General-Purpose Manipulation World Modelcited by 41
  6. 2025TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection Systemcited by 39
  7. 2024ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulationcited by 36
  8. 2026Rethinking Video Generation Model for the Embodied Worldcited by 30
  9. 2026RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalizationcited by 29
  10. 2025Self-Improving Embodied Foundation Modelscited by 28
  11. 2026NitroGen: An Open Foundation Model for Generalist Gaming Agentscited by 22
  12. 2024InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulationcited by 21
  13. 2024Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulationcited by 17
  14. 2026BPP: Long-Context Robot Imitation Learning by Focusing on Key History Framescited by 17
  15. 2025A Taxonomy for Evaluating Generalist Robot Manipulation Policiescited by 15
  16. 2026Not All Features Are Created Equal: A Mechanistic Study of Vision-Language-Action Modelscited by 14
  17. 2026HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videoscited by 14
  18. 2026ROCKET: Residual-Oriented Multi-Layer Alignment for Spatially-Aware Vision-Language-Action Modelscited by 11
  19. 2025VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuningcited by 10
  20. 2025SCIZOR: A Self-Supervised Approach to Data Curation for Large-Scale Imitation Learningcited by 9
  21. 2025Mobi-π: Mobilizing Your Robot Learning Policycited by 9
  22. 2026Dexora: Open-source VLA for High-DoF Bimanual Dexteritycited by 9
  23. 2026MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulationcited by 8
  24. 2024DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robotscited by 7
  25. 2025Constraint-Preserving Data Generation for Visuomotor Policy Learningcited by 6
  26. 2026Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAscited by 5
  27. 2026Beyond Data Scaling: Representation-Centric Continued Pre-training for Vision-Language-Action Modelscited by 5
  28. 2025RoboGrasp: A Universal Grasping Policy for Robust Robotic Controlcited by 4
  29. 2025A Practical Guide for Incorporating Symmetry in Diffusion Policycited by 4
  30. 2025Bi-VLA: Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generationcited by 3
  31. 2025IRIS: An Immersive Robot Interaction Systemcited by 2
  32. 2025Learning Predictive Visuomotor Coordinationcited by 2
  33. 2025Multimodal Data Storage and Retrieval for Embodied AI: A Surveycited by 2
  34. 2026Bi-HIL: Bilateral Control-Based Multimodal Hierarchical Imitation Learning via Subtask-Level Progress Rate and Keyframe Memory for Long-Horizon Contact-Rich Robotic Manipulationcited by 2
  35. 2026FOCA: Future-Oriented Conditioning for Data-Efficient Vision-Language-Action Adaptationcited by 2
  36. 2024Imitation of human motion achieves natural head movements for humanoid robots in an active-speaker detection taskcited by 1
  37. 2024ALPHA-α and Bi-ACT Are All You Need: Importance of Position and Force Information/Control for Imitation Learning of Unimanual and Bimanual Robotic Manipulation with Low-Cost Systemcited by 1
  38. 2025T-Rex: Task-Adaptive Spatial Representation Extraction for Robotic Manipulation with Vision-Language Modelscited by 1

50 most cited of 61 All 61 (JSON)

Similar, not cited

Close in wording, no citation either way

  1. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
  2. 2025AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AI
  3. 2024ALOHA Unleashed: A Simple Recipe for Robot Dexterity
  4. 2024Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation
  5. 2025TwinVLA: Data-Efficient Bimanual Manipulation with Twin Single-Arm Vision-Language-Action Models
  6. 2026ULOHA: An Underwater Bimanual Robot System for Robot Learning
  7. 2024Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning
  8. 2026DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World