# YOR: Your Own Mobile Manipulator for Generalizable Robotics

arXiv: https://arxiv.org/abs/2602.11150 · HTML: https://mlsanity.com/paper/2602.11150/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 49 references that are in the map.
- First posted on arXiv 11 Feb 2026.

## Builds on (most cited first, 26 of 26)

- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator](https://mlsanity.com/paper/1708.03852/) (2017)
- [Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots](https://mlsanity.com/paper/2402.10329/) (2024)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators](https://mlsanity.com/paper/2309.13037/) (2023)
- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [Behavior Generation with Latent Actions](https://mlsanity.com/paper/2403.03181/) (2024)
- [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://mlsanity.com/paper/2407.01512/) (2024)
- [HomeRobot: Open-Vocabulary Mobile Manipulation](https://mlsanity.com/paper/2306.11565/) (2023)
- [On Bringing Robots Home](https://mlsanity.com/paper/2311.16098/) (2023)
- [Intel RealSense Stereoscopic Depth Cameras](https://mlsanity.com/paper/1705.05548/) (2017)
- [Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning](https://mlsanity.com/paper/2407.03162/) (2024)
- [UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers](https://mlsanity.com/paper/2407.10353/) (2024)
- [OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation](https://mlsanity.com/paper/2403.07870/) (2024)
- [Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments](https://mlsanity.com/paper/2409.05865/) (2024)
- [TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System](https://mlsanity.com/paper/2511.02832/) (2025)
- [The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments](https://mlsanity.com/paper/2109.10892/) (2021)
- [DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulation](https://mlsanity.com/paper/2411.04999/) (2024)
- [BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities](https://mlsanity.com/paper/2503.05652/) (2025)
- [TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning](https://mlsanity.com/paper/2412.10447/) (2024)
- [Harmonic Mobile Manipulation](https://mlsanity.com/paper/2312.06639/) (2023)
- [Jerk-limited Real-time Trajectory Generation with Arbitrary Target States](https://mlsanity.com/paper/2105.04830/) (2021)
- [Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach](https://mlsanity.com/paper/2401.01474/) (2024)
- [UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies](https://mlsanity.com/paper/2510.02614/) (2025)
- [Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation](https://mlsanity.com/paper/2409.08648/) (2024)

## Built on by (most cited first, 1 of 1)

- [Steertuning Policies from a Few Human Videos](https://mlsanity.com/paper/2610.18711/) (2026)

## Abstract (arXiv)

Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the commoditization of actuators, has propelled growth in low-cost robotic platforms. However, the optimal form factor for mobile manipulation, especially on a budget, remains an open question. We introduce YOR, an open-source, low-cost mobile manipulator that integrates an omnidirectional base, a telescopic vertical lift, and two arms with grippers to achieve whole-body mobility and manipulation. Our design emphasizes modularity, ease of assembly using off-the-shelf components, and affordability, with a bill-of-materials cost under 10,000 USD. We demonstrate YOR's capability by completing tasks that require coordinated whole-body control, bimanual manipulation, and autonomous navigation. Overall, YOR offers competitive functionality for mobile manipulation research at a fraction of the cost of existing platforms. Project website: https://www.yourownrobot.ai/