Metraipolis › archive › dc_b25485dfd29d

MABEL: An Open Anthropomorphic Mobile Bimanual Platform for Teleoperation and Learning — arXiv:2611.04083

Source: arXiv (en)
Original: https://arxiv.org/abs/2611.04083
License (as archived): CC0-1.0
Archived: 2026-11-04T19:05:09.246Z
SHA-256 of the archived text: 7ff64a8405cd178009a7b227b5a6a81281e64264903462a216b49f3c56e87956
Stable URL of this page: https://metraipolis.com/documento/dc_b25485dfd29d

How to cite

MABEL: An Open Anthropomorphic Mobile Bimanual Platform for Teleoperation and Learning — arXiv:2611.04083 — arXiv (en), https://arxiv.org/abs/2611.04083 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_b25485dfd29d (Metraipolis archive dc_b25485dfd29d, sha256 7ff64a8405cd178009a7b227b5a6a81281e64264903462a216b49f3c56e87956)

BibTeX

@misc{dcb25485dfd29d,
  title = {MABEL: An Open Anthropomorphic Mobile Bimanual Platform for Teleoperation and Learning — arXiv:2611.04083},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2611.04083},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_b25485dfd29d; sha256 7ff64a8405cd178009a7b227b5a6a81281e64264903462a216b49f3c56e87956},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2611.04083. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

As robot learning moves beyond the tabletop, many tasks require mobility, adjustable reach, active perception, and bimanual dexterity. Commercial platforms combining these capabilities are costly, while affordable open-source alternatives cover only a subset and require software integration. We present MABEL, an open-source anthropomorphic mobile bimanual robot with 56 degrees of freedom (DOF) and a US$8.1k parts cost. It combines two 7-DOF arms with 17-DOF hands, a pitching torso, a lift, a 3-DOF neck, and a holonomic base. Back-drivable arms and torso support compliant interaction, with fingertip reach from floor level to 2.23 m. The head and torso roughly triple modeled camera coverage relative to a torso-fixed camera. Apple Vision Pro head and hand tracking enables whole-body teleoperation without handheld controllers, with 137 ms mean glass-to-glass stereo video latency over the robot's Wi-Fi hotspot. We demonstrate an end-to-end imitation learning pipeline, from teleoperated data collection to policy deployment, using a shared command interface and whole-body controller.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2611.04083 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-04T18:39:52.390Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).