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arXiv · 2510.13284

ALOHA2 Robot Kitchen Application Scenario Reproduction Report

Haoyang Wu·Siheng Wu·William X. Liu·Fangui Zeng
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Abstract

ALOHA2 is an enhanced version of the dual-arm teleoperated robot ALOHA, featuring higher performance and robustness compared to the original design, while also being more ergonomic. Like ALOHA, ALOHA2 consists of two grippers and two ViperX 6-DoF arms, as well as two smaller WidowX arms. Users control the follower mechanical arms by operating the leader mechanical arms through back-driving. The device also includes cameras that generate images from multiple viewpoints, allowing for RGB data collection during teleoperation. The robot is mounted on a 48-inch x 30-inch table, equipped with an aluminum frame that provides additional mounting points for cameras and gravity compensation systems.

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Haoyang Wu, Siheng Wu, William X. Liu, Fangui Zeng. 2025-10-15. ALOHA2 Robot Kitchen Application Scenario Reproduction Report. https://arxiv.org/abs/2510.13284

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