title: TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot
    Learning
summary: 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.
paper_authors._id: 67614ef841245764e08a2812
paper_authors.name: Jimmy Wu
paper_authors.status: claimed_verified
paper_authors.statusLastChangedAt: 2024-12-17T10:34:45.672Z
paper_authors._id: 62faae5686456e533453422c
paper_authors.avatarUrl: /avatars/78e175e131fe472257c2f93787e463a1.svg
paper_authors.fullname: Jimmy Wu
paper_authors.type: user
paper_authors.user: jimmyyhwu
paper_authors._id: 67614ef841245764e08a2813
paper_authors.name: William Chong
paper_authors._id: 67614ef841245764e08a2814
paper_authors.name: Robert Holmberg
paper_authors._id: 67614ef841245764e08a2815
paper_authors.name: Aaditya Prasad
paper_authors._id: 67614ef841245764e08a2816
paper_authors.name: Yihuai Gao
paper_authors._id: 67614ef841245764e08a2817
paper_authors.name: Oussama Khatib
paper_authors._id: 67614ef841245764e08a2818
paper_authors.name: Shuran Song
paper_authors._id: 67614ef841245764e08a2819
paper_authors.name: Szymon Rusinkiewicz
paper_authors._id: 67614ef841245764e08a281a
paper_authors.name: Jeannette Bohg
paper_authors.status: claimed_verified
paper_authors.statusLastChangedAt: 2024-12-18T09:52:57.542Z
paper_authors._id: 676272a59865895e253ceee5
paper_authors.avatarUrl: https://cdn-avatars.huggingface.co/v1/production/uploads/676272a59865895e253ceee5/Nz51Y-G49SD19lQEjH6Yd.jpeg
paper_authors.fullname: Jeannette Bohg
paper_authors.type: user
paper_authors.user: jbohg
paper_title: TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot
    Learning
paper_summary: 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.
paper_ai_keywords: imitation learning mobile manipulation demonstrations open-source design inexpensive robust flexible mobile manipulator arbitrary arms powered casters fully holonomic planar degrees of freedom kinematic constraints nonholonomic bases mobile phone teleoperation interface data acquisition learned policies