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What Mobile ALOHA is designed to do
Mobile ALOHA is a research system introduced by Zipeng Fu, Tony Z. Zhao and Chelsea Finn in their 2024 paper, “Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation.” It extends the stationary ALOHA system by adding a wheeled mobile base and a way for an operator to control the base and both arms together.
During demonstrations, the operator is physically tethered to the system, backdrives the base and manipulates two leader arms. The robot records base velocities and arm data together. Those demonstrations can then be used to train mobile-manipulation behaviors. The paper also reports co-training with existing stationary ALOHA data.
How the original research build is assembled
AgileX TRACER is the chassis within a larger research system. The paper-era configuration described by Fu, Zhao and Finn includes:
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- Mobile base: one AgileX TRACER AGV, a low-profile differential-drive platform.
- Arms: two ViperX 300 follower arms on the robot and two leader arms for the operator.
- Cameras: three Logitech C922x RGB webcams—two mounted at the wrists and one facing forward. The authors report 480 × 640 streaming at 50 Hz.
- Power and compute: a 1.26 kWh battery and a laptop with an Intel i7-12800H processor and NVIDIA RTX 3070 Ti graphics.
The researchers state: “We choose AgileX Tracer AGV (“Tracer”) as the mobile base following considerations 1 and 2.”
Reported TRACER and system figures
The following values are those reported for the authors’ research build in 2024, not independent current tests or a present-day quote.
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| Item | Reported figure | How to interpret it |
|---|---|---|
| TRACER maximum speed | Up to 1.6 m/s | Paper-era specification reported by Fu, Zhao and Finn. |
| TRACER maximum payload | 100 kg | Paper-era specification reported by Fu, Zhao and Finn. |
| TRACER obstacle traversal | 10 mm | Reported in the 2024 paper. |
| TRACER slope capability with load | 8 degrees | Reported in the 2024 paper. |
| Minimum ground clearance | 30 mm | Reported in the 2024 paper. |
| System reach | 65–200 cm vertical; up to 100 cm horizontal extension | Reported for the assembled research system. |
| Object lifting capacity | 1.5 kg | Reported for the assembled research system. |
| Pulling force | 100 N at 1.5 m height | Reported for the assembled research system. |
| TRACER base price | US$7,000 | Price reported at the time of the 2024 paper; current pricing is not established here. |
| Total system budget | Approximately US$32,000 | Authors’ reported budget for their build, not a current purchase quote. |
What the study demonstrated—and what “up to 90%” means
Fu, Zhao and Finn report that, in specified co-training experiments using 50 demonstrations per task, adding existing stationary ALOHA data increased task success rates by up to 90%. “Up to” matters: this is the highest reported increase in those experiments, not a result for every task, a guaranteed outcome, or a claim that 50 demonstrations alone produce that success rate.
The evaluated tasks included sautéing and serving shrimp, opening a two-door cabinet to store cooking pots, calling and entering an elevator, and rinsing a pan. The finding concerns the paper’s experimental setup and should be read as evidence about that study, not a general performance guarantee for other robots or deployments.
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How Mobile ALOHA relates to AgileX COBOT MAGIC
AgileX describes COBOT MAGIC as an open-source robotic system that uses Mobile ALOHA to control a mobile base and robotic arms. It is related to the research system, but its advertised configuration is not interchangeable with the original paper’s parts list.
| Comparison | Original Mobile ALOHA research build | AgileX COBOT MAGIC description |
|---|---|---|
| Mobile base | AgileX TRACER AGV, as described in the 2024 paper. | AgileX’s newer explanatory article lists TRACER 2.0. |
| Arms | Two ViperX 300 follower arms plus two leader arms. | AgileX’s newer article lists four PiPER arms. |
| Cameras and sensing | Three Logitech C922x RGB webcams: two wrist-mounted and one forward-facing. | The official product page describes two wrist cameras and one top camera; the newer article lists an Orbbec Dabai depth camera. |
| Compute and power | 1.26 kWh battery and a laptop with Intel i7-12800H and NVIDIA RTX 3070 Ti. | The newer AgileX article lists an industrial PC; a matching battery or laptop specification is not stated in that description. |
| Teleoperation and data collection | The paper describes tethered whole-body teleoperation and recording of base and arm data for demonstrations. | AgileX describes COBOT MAGIC as using Mobile ALOHA to control the base and arms; an equivalent research-build data-collection workflow is not stated in the cited product descriptions. |
| Software and compatibility | The paper documents its research setup; compatibility with other revisions or software is not established by that configuration alone. | AgileX’s GitHub organization lists chassis SDKs, ROS packages, simulation resources and other open-source resources. Check compatibility for the exact chassis and software versions. |
AgileX product configurations and availability can change. Use the vendor’s COBOT MAGIC product page and COBOT MAGIC explanatory article for its own current descriptions, while keeping them distinct from the 2024 research build.
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What to check before trying to replicate the system
The TRACER chassis is only one part of a build. Anyone planning a replication should verify the exact chassis revision, mechanical and electrical interfaces, arm and camera compatibility, power budget, software versions and safety procedures against the documentation for the hardware they will use.
The TRACER user manual describes an emergency stop, rear electrical connections, CAN and 24 V extension interfaces, and a reserved top compartment. It identifies a manual radio transmitter as an optional accessory. AgileX’s GitHub organization is a starting point for software resources, but the presence of SDKs or ROS packages does not by itself establish compatibility with every chassis revision or Mobile ALOHA configuration.
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