AIRoA-0: A Bimanual Manipulation System Learned from Handheld Demonstrations

AIRoA-0 (A-0) is a bimanual manipulation system developed from 16,151 hours of handheld demonstrations, without any robot data collected. Utilizing the YUBI open-source handheld gripper, A-0 can perform various tasks such as sorting parts, changing mop pads, and folding towels using only wrist-mounted cameras.

The system demonstrates an average success rate of 78% across ten tasks, significantly outperforming other models. A-0 is designed to be embodiment-agnostic, compatible with various robots equipped with the YUBI gripper. The dataset of demonstrations, along with pre-trained weights, will be released for further research.