Pixel: A Co-Designed Full-Stack Robot System for Learning General-Purpose Mobile Manipulation
[Robotyka] Autorzy: Tony Tao, Jason Jingzhou Liu, Ruslan Salakhutdinov i 1 więcej
General-purpose mobile manipulation requires a combination of capable robot hardware, scalable demonstration collection, expressive whole-body control, and effective policy learning. Yet these components are often developed independently, creating mismatches that limit the capabilities of the complete system. We present Pixel, a co-designed full-stack system for learning general-purpose mobile manipulation. Pixel combines a low-cost wheeled humanoid with human-aligned kinematics and compliant grippers, multiple teleoperation and robot-free human data-collection interfaces, a unified whole-body controller, and a common policy learning pipeline across human and robot demonstrations. A hierarchical learning stack further enables language-conditioned visuomotor control and long-horizon task execution. We evaluate the system across hardware, data collection, and policy learning, and demonstr…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka