AI Agents 相关度: 7/10

YOR: Your Own Mobile Manipulator for Generalizable Robotics

Manan H Anjaria, Mehmet Enes Erciyes, Vedant Ghatnekar, Neha Navarkar, Haritheja Etukuru, Xiaole Jiang, Kanad Patel, Dhawal Kabra, Nicholas Wojno, Radhika Ajay Prayage, Soumith Chintala, Lerrel Pinto, Nur Muhammad Mahi Shafiullah, Zichen Jeff Cui
arXiv: 2602.11150v1 发布: 2026-02-11 更新: 2026-02-11
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AI 摘要

YOR是一款低成本、开源的移动操作机器人，具备全身移动和双臂操作能力，为机器人研究提供性价比高的平台。

主要贡献

  • 设计并实现了一个低成本、开源的移动操作机器人平台YOR
  • YOR具有全身移动、双臂操作和自主导航能力
  • 展示了YOR在复杂操作任务中的能力

方法论

通过集成全向底座、伸缩垂直升降机构和双臂，并采用模块化设计和现成组件，实现了YOR的低成本和易组装。

原文摘要

Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the commoditization of actuators, has propelled growth in low-cost robotic platforms. However, the optimal form factor for mobile manipulation, especially on a budget, remains an open question. We introduce YOR, an open-source, low-cost mobile manipulator that integrates an omnidirectional base, a telescopic vertical lift, and two arms with grippers to achieve whole-body mobility and manipulation. Our design emphasizes modularity, ease of assembly using off-the-shelf components, and affordability, with a bill-of-materials cost under 10,000 USD. We demonstrate YOR's capability by completing tasks that require coordinated whole-body control, bimanual manipulation, and autonomous navigation. Overall, YOR offers competitive functionality for mobile manipulation research at a fraction of the cost of existing platforms. Project website: https://www.yourownrobot.ai/

标签

机器人 移动操作 开源 低成本

arXiv 分类

cs.RO cs.LG