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About this paper
Shuai Yang, Fangyi Xu, Yishu Shen, Kecheng Zheng, Yinghao Xu
HALO enables operators to teach mobile-manipulation robots by guiding both arms while walking to move a platform. It removes demonstrators’ hands from images and aligns platform motion with the deployed base. In Push Chair, successful demonstrations averaged 2.9 times shorter than Mobile ALOHA’s; a policy completed a six-stage box task in 11 of 15 trials, evidence limited to the tested tasks.
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