TidyBot++

An open-source low-cost omnidirectional mobile base plus arm from Stanford and Princeton, for household mobile-manipulation research.

TidyBot++ is an open-source mobile-manipulation platform from Stanford and Princeton (Jimmy Wu, Shuran Song, Oussama Khatib, Jeannette Bohg, and others), published at CoRL 2024, with both hardware drawings and code released publicly. Its core is a holonomic base built from powered caster wheels: it can independently and simultaneously control forward-backward motion, sideways motion, and rotation, so it doesn't need to turn to face a direction before moving the way a differential-drive base does, which simplifies manipulation while in motion. Any robot arm can be mounted on the base; the paper uses a Kinova Gen3. It ships with a phone-based teleoperation interface for collecting demonstrations, and the team trains diffusion policies on that data to complete a range of household tasks in real apartments. The base reportedly costs about $5,000–6,000 to build, not including the arm.

ExampleDemonstrations are collected in a real apartment through the phone teleoperation interface, then used to train a diffusion policy so the robot can carry out household mobile-manipulation tasks on its own.

Also called

Open-Source Holonomic Mobile Manipulator, tidybot2

Related

Mobile Manipulation · Mobile Manipulator · Kinova Gen3 · Diffusion Policy · Teleoperation · Mobile ALOHA

Sources

arXiv 2412.10447: TidyBot++
GitHub: jimmyyhwu/tidybot2

As of

2024-12