mlsanityData to 14 Oct 2026

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

arXiv 2412.10447 ↗First posted 11 Dec 2024cs.RO cs.AI cs.CVcited by 22

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

Abstract (arXiv)

Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and flexible mobile manipulator that can support arbitrary arms, enabling a wide range of real-world household mobile manipulation tasks. Crucially, our design uses powered casters to enable the mobile base to be fully holonomic, able to control all planar degrees of freedom independently and simultaneously. This feature makes the base more maneuverable and simplifies many mobile manipulation tasks, eliminating the kinematic constraints that create complex and time-consuming motions in nonholonomic bases. We equip our robot with an intuitive mobile phone teleoperation interface to enable easy data acquisition for imitation learning. In our experiments, we use this interface to collect data and show that the resulting learned policies can successfully perform a variety of common household mobile manipulation tasks.

Key facts. Cited by 22 papers in the map (data through 14 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 30 of its 33 references that are in the map. First posted on arXiv 11 Dec 2024.

Builds on

30 of 33 references.

Closest ancestors · 11

Same direction, newest first

  1. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedback1 Jul
  2. 2024RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches5 Mar
  3. 2024Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation29 Feb
  4. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation4 Jan
  5. 2023GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators22 Sep
  6. 2023BridgeData V2: A Dataset for Robot Learning at Scale24 Aug
  7. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware23 Apr
  8. 2023MimicPlay: Long-Horizon Imitation Learning by Watching Human Play24 Feb
  9. 2021Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation9 Dec
  10. 2020Learning Multi-Arm Manipulation Through Collaborative Teleoperation12 Dec
  11. 2018RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation7 Nov

Other references · 19

  1. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,887
  2. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  3. 2024Octo: An Open-Source Generalist Robot Policycited by 1,484
  4. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 725
  5. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 394
  6. 2024Diffusion Policy Policy Optimizationcited by 280
  7. 2023NoMaD: Goal Masked Diffusion Policies for Navigation and Explorationcited by 248
  8. 2024HumanPlus: Humanoid Shadowing and Imitation from Humanscited by 185
  9. 2024Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillationcited by 166
  10. 2024Behavior Generation with Latent Actionscited by 160
  11. 2023Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisitioncited by 159
  12. 2023On Bringing Robots Homecited by 101
7 more
  1. 2024UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllerscited by 75
  2. 2023SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real Worldcited by 48
  3. 2024Robot Utility Models: General Policies for Zero-Shot Deployment in New Environmentscited by 44
  4. 2024Surgical Robot Transformer (SRT): Imitation Learning for Surgical Taskscited by 40
  5. 2024Adaptive Mobile Manipulation for Articulated Objects In the Open Worldcited by 31
  6. 2024TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulationcited by 30
  7. 2023Harmonic Mobile Manipulationcited by 17

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 10; 2026: 12.

22 papers.

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By area:

  1. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 31
  2. 2025EchoVLA: Robotic Vision-Language-Action Model with Synergistic Declarative Memory for Mobile Manipulationcited by 15
  3. 2025Mobi-π: Mobilizing Your Robot Learning Policycited by 10
  4. 2025WoMAP: World Models For Embodied Open-Vocabulary Object Localizationcited by 9
  5. 2025Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Modelscited by 8
  6. 2025MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulationcited by 7
  7. 2026ω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulationcited by 6
  8. 2026LongNav-R1: Horizon-Adaptive Multi-Turn RL for Long-Horizon VLA Navigationcited by 5
  9. 2026CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policycited by 5
  10. 2025SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learningcited by 4
  11. 2025AnywhereVLA: Language-Conditioned Exploration and Mobile Manipulationcited by 3
  12. 2026Mobile UMI: Cross-View Diffusion Policy with Decoupled Kinematics for Mobile Manipulationcited by 2
10 more
  1. 2026Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedbackcited by 2
  2. 2025AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AIcited by 1
  3. 2025Robot-Powered Data Flywheels: Deploying Robots in the Wild for Continual Data Collection and Foundation Model Adaptationcited by 1
  4. 2026YOR: Your Own Mobile Manipulator for Generalizable Roboticscited by 1
  5. 2026How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preferencecited by 1
  6. 2026When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulationcited by 1
  7. 2026Phone2Act: A Low-Cost, Hardware-Agnostic Teleoperation System for Scalable VLA Data Collectioncited by 0
  8. 2026ModPack: Extensible Teleoperation Interface for Bimanual Mobile Manipulationcited by 0
  9. 2026BlenDAgger: Blended Shared Control for Interactive Imitation Learningcited by 0
  10. 2026I3L: Iterative Interactive Imitation Learning for Whole-Body Mobile Manipulationcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
  2. 2025MobRT: A Digital Twin-Based Framework for Scalable Learning in Mobile Manipulation
  3. 2025MoDeSuite: Robot Learning Task Suite for Benchmarking Mobile Manipulation with Deformable Objects
  4. 2024Task-Driven Co-Design of Mobile Manipulators
  5. 2024ReMoBot: Retrieval-Based Few-Shot Imitation Learning for Mobile Manipulation with Vision Foundation Models
  6. 2025RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
  7. 2025EMMA: Scaling Mobile Manipulation via Egocentric Human Data
  8. 2023MOMA-Force: Visual-Force Imitation for Real-World Mobile Manipulation