ADadolph·Apr 16, 2024
You have to think of this as an entire system. The arm is necessary but not sufficient. An "arm" could be as simple as small servos and popsicle sticks [0]. In the case of ALOHA, below is an outline of the basic components.
* arms (aka follower arms)
- effector (i.e. gripper)
- sensors (i.e. cameras, depth sensors, specced Intel RealSense D405)
- gravity compensation (so the relatively delicate servos aren't overloaded)
* controller
- runs Robot Operating System (ROS [1]) plus other software (i.e. arm, gripper interfaces [2])
- runs ALOHA model in inference to tell ROS what to do based on task and sensor input
- trains ALOHA models using arm motion encoder and ACT: Action Chunking with Transformers [4]
* leader arms
- motion encoders (essentialy an arm in reverse that can be used by a human to telecon
Read the rest
trol the arm to encode motions into model training)
The system at this point is "research grade" which is at once expensive due to custom/nice materials/units and not super user friendly--you must know a lot. See the build instructions [5].
0. https://github.com/evildmp/BrachioGraph
1. https://www.ros.org/
2. https://github.com/interbotix
3. https://www.trossenrobotics.com/aloha-kits
4. https://github.com/tonyzhaozh/act
5. https://docs.google.com/document/d/1sgRZmpS7HMcZTPfGy3kAxDrq...