-
Notifications
You must be signed in to change notification settings - Fork 6
Expand file tree
/
Copy pathcn.html
More file actions
376 lines (352 loc) · 22.8 KB
/
cn.html
File metadata and controls
376 lines (352 loc) · 22.8 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description" content="Mobile ALOHA: 使用低成本全身遥操作学习双臂移动操作">
<meta name="keywords" content="Robotics, Mobile Manipulation, Bimanual Manipulation">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Mobile ALOHA斯坦福官方网站</title>
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">
<link rel="stylesheet" href="./static/css/bulma.min.css">
<link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
<link rel="stylesheet" href="./static/css/bulma-slider.min.css">
<link rel="stylesheet" href="./static/css/fontawesome.all.min.css">
<link rel="stylesheet" href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
<link rel="stylesheet" href="./static/css/index.css">
<!-- <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/5.15.3/css/all.min.css" integrity="sha512-iBBXm8fW90+nuLcSKlbmrPcLa0OT92xO1BIsZ+ywDWZCvqsWgccV3gFoRBv0z+8dLJgyAHIhR35VZc2oM/gI1w==" crossorigin="anonymous" referrerpolicy="no-referrer" /> -->
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
<script defer src="./static/js/fontawesome.all.min.js"></script>
<script src="./static/js/bulma-carousel.min.js"></script>
<script src="./static/js/bulma-slider.min.js"></script>
<script src="./static/js/index.js"></script>
<link rel="icon" href="./favicon.ico">
<meta property="og:site_name" content="Mobile ALOHA: 使用低成本全身遥操作学习双臂移动操作" />
<meta property="og:type" content="video.other" />
<meta property="og:title" content="Mobile ALOHA: 使用低成本全身遥操作学习双臂移动操作" />
<meta property="og:description" content="来自斯坦福大学的Zipeng Fu*, Tony Z. Zhao*和Chelsea Finn" />
<meta property="og:url" content="https://mobile-aloha.github.io/" />
<meta property="og:image" content="https://mobile-aloha.github.io/static/images/preview.gif" />
<meta property="og:image:secure" content="https://mobile-aloha.github.io/static/images/preview.gif" />
<meta property="og:video" content="" />
<meta property="og:video:secure" content="" />
<meta property="og:image:width" content="1280" />
<meta property="og:image:height" content="720" />
<meta property="article:publisher" content="https://mobile-aloha.github.io" />
<meta name="twitter:card" content="summary_large_image" />
<meta name="twitter:title" content="Mobile ALOHA: 使用低成本全身遥操作学习双臂移动操作" />
<meta name="twitter:description" content="来自斯坦福大学的Zipeng Fu*, Tony Z. Zhao*和Chelsea Finn" />
<meta name="twitter:url" content="https://mobile-aloha.github.io/" />
<meta name="twitter:image" content="https://mobile-aloha.github.io/static/images/preview.gif" />
<meta name="twitter:site" content="@zipengfu" />
<meta name="twitter:card" content="player" />
<meta name="twitter:player" content="" />
<meta name="twitter:player:width" content="1280" />
<meta name="twitter:player:height" content="720" />
<script src="https://www.youtube.com/iframe_api"></script>
</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container">
<div class="columns is-centered">
<div class="column is-two-thirds is-centered has-text-centered">
<h1 class="title is-1 publication-title">Mobile ALOHA</h1>
<h2 class="subtitle is-2 publication-subtitle">使用低成本全身遥操作学习双臂移动操作</h2>
<div class="is-size-4 publication-authors">
<span class="author-block">
<a href="https://zipengfu.github.io/">Zipeng Fu</a>*
<a href="https://tonyzhaozh.github.io/">Tony Z. Zhao</a>*
<a href="https://ai.stanford.edu/~cbfinn/">Chelsea Finn</a>
</span>
</div>
<image src="./static/images/logo.jpg" style="width: 80%;"></image>
<div class="has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="./resources/mobile-aloha.pdf"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>论文</span>
</a>
</span>
<!-- arXiv Link. -->
<span class="link-block">
<a href="http://arxiv.org/abs/2401.02117"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
<!-- Video Link. -->
<!-- <span class="link-block">
<a href=""
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>Video</span>
</a>
</span> -->
<!-- Tutorial Link. -->
<span class="link-block">
<a href="https://docs.google.com/document/d/1_3yhWjodSNNYlpxkRCPIlvIAaQ76Nqk2wsqhnEVM6Dc" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-book"></i>
</span>
<span>开源教程</span>
</a>
</span>
<!-- Datasets Link. -->
<span class="link-block">
<a href="https://drive.google.com/drive/folders/1FP5eakcxQrsHyiWBRDsMRvUfSxeykiDc" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-database"></i>
</span>
<span>数据集</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/MarkFzp/mobile-aloha" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab" data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512" data-fa-i2svg=""><path fill="currentColor" d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"></path></svg><!-- <i class="fab fa-github"></i> Font Awesome fontawesome.com -->
</span>
<span>硬件代码</span>
</a>
</span>
<span class="link-block">
<a href="https://github.com/MarkFzp/act-plus-plus" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab" data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512" data-fa-i2svg=""><path fill="currentColor" d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"></path></svg><!-- <i class="fab fa-github"></i> Font Awesome fontawesome.com -->
</span>
<span>ML代码</span>
</a>
</span>
<span class="link-block">
<a href="./index.html" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-language"></i>
</span>
<span>English</span>
</a>
</span>
</div>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-thirds is-centered has-text-centered">
<video download controls autoplay loop muted playsinline src="./resources/mobile-aloha.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">团队</h2>
<div class="columns is-centered">
<div class="column is-one-fifth is-centered has-text-centered">
<a href="https://zipengfu.github.io" target="_blank" style="border-bottom: none;">
<span class="image" ><img src="./static/images/ZipengFu.jpeg" alt="" style="width: 70%; margin-left: auto; margin-right: auto;" /></span>
</a>
<span style="font-weight: bold; font-size: 130%;">
<a href="https://zipengfu.github.io" target="_blank" style="color: black;">
Zipeng Fu
</a>
</span> <br>
(项目共同领导)
</div>
<div class="column is-one-fifth is-centered has-text-centered">
<a href="https://tonyzhaozh.github.io/" target="_blank" style="border-bottom: none;">
<span class="image"><img src="./static/images/TonyZhao.jpeg" alt="" style="width: 70%; margin-left: auto; margin-right: auto;" /></span>
</a>
<span style="font-weight: bold; font-size: 130%;">
<a href="https://tonyzhaozh.github.io/" target="_blank" style="color: black;">
Tony Z. Zhao
</a>
</span> <br>
(项目共同领导)
</div>
<div class="column is-one-fifth is-centered has-text-centered">
<a href="https://ai.stanford.edu/~cbfinn/" target="_blank" style="border-bottom: none;">
<span class="image"><img src="./static/images/ChelseaFinn.jpeg" alt="" style="width: 70%; margin-left: auto; margin-right: auto;" /></span>
</a>
<span style="font-weight: bold; font-size: 130%;">
<a href="https://ai.stanford.edu/~cbfinn/" target="_blank" style="color: black;">
Chelsea Finn
</a>
</span> <br>
(指导老师)
</div>
</div>
</section>
<section class="section">
<div class="container">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-two-thirds">
<h2 class="title is-2">摘要</h2>
<div class="content has-text-justified">
<p>
人类示范的模仿学习在机器人技术中表现出令人印象深刻的性能。然而，大多数成果专注于桌面操作，缺乏执行一般实用任务所需的移动性和灵巧性。
在这项工作中，我们开发了一个模仿移动操作任务的系统，这些任务是双手的，并且需要全身控制。
我们首先介绍Mobile ALOHA，这是一个低成本的全身远程操作系统，用于数据收集。它通过移动基座和全身远程操作界面增强了ALOHA系统。
使用Mobile ALOHA收集的数据，我们然后执行监督行为克隆，并发现与现有的静态ALOHA数据集共同训练可以提高移动操作任务的性能。
通过每项任务50次演示，共同训练可以将成功率提高到90%，使Mobile ALOHA能够自主完成复杂的移动操作任务，例如煎炒并上菜一片虾、
打开双门墙橱存放重型烹饪锅具、呼叫并进入电梯、
以及使用厨房水龙头轻轻冲洗使用过的平底锅。
</p>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">自主技能</h2>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/cook_shrimp.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/wipe_wine.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/take_elevator.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/use_cabinets.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/wash_pan.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/push_chairs.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/high_five_third_person.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/skills/high_five_moving_cam.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">遥操作</h2>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<div class="publication-video">
<iframe src="https://www.youtube.com/embed/mnLVbwxSdNM" title="Mobile ALOHA Robot - Cooking a 3-Course Cantonese Meal" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<div class="publication-video">
<iframe src="https://player.bilibili.com/player.html?aid=410862302&bvid=BV1XG411q7oA&cid=1393519870&p=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/teleop/teleop_restroom_10x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">鲁棒性测试</h2>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/wipe_wine_9_trials_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/take_elevator_5_trials_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/use_cabinets_3_pots_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/use_cabinets_distractors.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/push_chairs_morning_7_trials_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
<div class="column is-two-fifths is-centered has-text-centered">
<video controls autoplay loop muted playsinline src="./resources/robustness/push_chairs_night_6_trials_8x_speed.mp4" poster="./resources/loading-icon.gif" style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">失败案例</h2>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<p>我们在下面的视频中分享一些在我们硬件和软件/AI协同开发的过程中，有趣的机器人失败案例。</p>
</div>
</div>
<div class="columns is-centered">
<div class="column is-three-fifths is-centered has-text-centered">
<div class="publication-video">
<iframe src="https://player.bilibili.com/player.html?aid=453250537&bvid=BV1g5411q7cj&cid=1395876911&p=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-two-thirds">
<h2 class="title is-2">鸣谢</h2>
<div class="content has-text-justified">
<p>
我们感谢斯坦福机器人中心和Steve Cousins为我们的实验提供设施支持。我们还要感谢斯坦福IRIS实验室的成员：Lucy X. Shi和Tian Gao，以及斯坦福REAL实验室的成员：Cheng Chi、Zhenjia Xu、Yihuai Gao、Huy Ha、Zeyi Liu、Xiaomeng Xu、Chuer Pan和Shuran Song，为我们的实验提供了大量帮助。我们非常感谢Qingqing Zhao的摄影工作，以及来自Karl Pertsch、Boyuan Chen、Ziwen Zhuang、Quan Vuong和Fei Xia的反馈和有益讨论。这个项目得到了波士顿动力AI研究所和ONR赠款N00014-21-1-2685的支持。Zipeng Fu由斯坦福研究生奖学金支持。
</p>
</div>
</div>
</div>
</div>
</section>
<section class="section" id="BibTeX">
<div class="container content">
<h2 class="titile">BibTeX</h2>
<pre><code>@inproceedings{fu2024mobile,
author = {Fu, Zipeng and Zhao, Tony Z. and Finn, Chelsea},
title = {Mobile ALOHA: 使用低成本全身遥操作学习双臂移动操作},
booktitle = {{Conference on Robot Learning (CoRL)}},
year = {2024},
}</code></pre>
</div>
</section>
<footer class="footer">
<div class="container">
<div class="content has-text-centered">
<p>网站模板来自于<a href="https://nerfies.github.io/"><span class="dnerf">Nerfies</span></a> and <a href="https://robot-parkour.github.io/"><span class="dnerf">Robot-Parkour</span></a>.</p>
</div>
</div>
</footer>
</body>
</html>