Mobile ALOHA (learning code)
- Software
- Humanoids and robot learning
- Framework
Code for teleoperating and recording demonstrations with the Mobile ALOHA bimanual mobile manipulation robot, forked from the ALOHA repo. Used to collect training data for imitation learning.
- Stale
Source on GitHub: github.com/MarkFzp/mobile-aloha (opens in a new tab). Facts read at commit 0e40324 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 0e40324 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
Labels
- StaleNo commit in 12 months: the newest is from 3 Jan 2024.
What it does
- Runs teleoperation so an operator controls four arms through leader robots, with one script per side.
- Records episodes of demonstration data to hdf5 files, with settings editable in constants.py.
- Provides scripts to visualize, replay on the real robot, and lower the arms to sleep position.
- Launches ROS nodes for four robot arms, three cameras, and the AgileX Tracer mobile base.
- Training algorithms are not included; they require the separate ACT for Mobile ALOHA repository.
Written by Robotheca from the project's README (opens in a new tab) at commit 0e40324.
Getting started
- Difficulty
- Advanced
- Hardware it needs, as the project states it
- Ubuntu 18.04 or 20.04 with ROS 1 Noetic; four Dynamixel-based robot arms connected by USB without hubs, three cameras (maximum two per hub), and an AgileX Tracer base connected over CAN bus.
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Stale: no commit in 12 months
- Newest commit
- 3 Jan 2024 on main
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.