Modular ALOHA - Dual-Arm Mobile Manipulation System

AgileX Robotics

Built on Stanford's Mobile ALOHA open-source project and the Ranger Mini 3.0 platform, the Modular ALOHA is a dual-arm teleoperation system with a leader-follower split architecture. It features 4 PiPER 7-DOF robotic arms, depth cameras, lift column, and an RTX 4090/4060 GPU industrial PC. Available in Open-Source Navigation and NAVIS Navigation variants for bimanual manipulation research, data collection, model training, and inference.

4×
PiPER Arms

RTX 4090
GPU

7
DOF Per Arm

Split
Architecture

Stanford ALOHA PiPER Arms RTX 4090/4060 ROS Noetic CUDA 11.3 Leader-Follower

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Key Advantages

Leader-Follower Split Architecture

Separates control and execution units for cross-space teleoperation. Enables flexible deployment and scalable expansion for diverse manipulation research scenarios.

End-to-End AI Pipeline

RTX 4090/4060 GPU for real-time inference. Pre-configured Ubuntu 20.04, ROS Noetic, CUDA 11.3, PyTorch environment. Supports data collection, model training, and inference validation.

Mobile Manipulation Platform

Ranger Mini 3.0 omnidirectional base with 100kg payload. Lift column for height adjustment. Modular end-effector and sensor swapping per task.

Technical Specifications

System Configuration

Mobile Chassis	Ranger Mini 3.0 (omnidirectional)
Robotic Arms	PiPER × 4 (7-DOF each)
GPU	RTX 4090 or RTX 4060
Operating System	Ubuntu 20.04
Framework	ROS Noetic
CUDA Version	11.3
PyTorch	1.10
Python	3.8
Communication	CAN bus
Lift Column	Adjustable height

Navigation Options

Architecture: Leader-Follower Split
Open-Source Version	Open-source SLAM navigation
NAVIS Version	Closed-source NAVIS navigation
Remote Control	Dual-Ackermann + Rotation modes
Payload	100 kg
Depth Cameras	Multi-sensor array
Base Wheels	Omnidirectional
End-Effector	Modular swappable

Downloads

Product documentation and user manual for Modular ALOHA.

User Manual

PDF • System Documentation

Interested in Modular ALOHA?

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