Mobile ALOHA
ALOHA bimanual rig mounted on a mobile base, with whole-body teleoperation for mobile manipulation. LeRobot has never had a Mobile ALOHA robot type. Its support is dataset-only: lerobot/aloha_mobile_* datasets, one of which is the example dataset in the LeRobot README.
open hardware · MIT (Mobile ALOHA codebase)verified 2026-10-24aka Mobile Aloha, aloha_mobile
Policies on Mobile ALOHA 4 with evidence · 17 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works | T1 · upstream documented | 2026-10-24 1d ago | Documented with the Mobile ALOHA authors' codebase (MarkFzp/act-plus-plus, co-training with static ALOHA data), not LeRobot; LeRobot's converted lerobot/aloha_mobile_* datasets carry 14-dim arm actions only (no base velocity). |
| Diffusion Policy Imitation | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | With 50 demonstrations Diffusion Policy was less precise than ACT on Wipe Wine (65% success); the authors attribute this to too few demonstrations. |
| π0 VLA | partial | T1 · upstream documented | 2026-10-25 today | Only a misconfigured zero-shot pi0_base run is documented: it executed on Mobile ALOHA hardware but produced no task behavior. No fine-tuned or correctly configured Mobile ALOHA run is publicly documented. |
| SmolVLA VLA | partial | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
Not yet verified: EO-1, Evo-1, Fast-WAM, GR00T N1.7, HIL-SERL, LingBot-VA, MolmoAct2, Multitask DiT, OpenVLA-OFT, OpenVLA, π0-FAST, π0.5, TD-MPC, VLA-JEPA, VQ-BeT, WALL-OSS, X-VLA. Have evidence?
Specifications
- Arms
- 2
- Homepage
- mobile-aloha.github.io/
in_grid because public LeRobot-format Mobile ALOHA datasets exist: lerobot/aloha_mobile_cabinet, _chair, _elevator, _shrimp, _wash_pan and _wipe_wine, listed on the Hub on 2026-10-24. The v0.6.1 README uses lerobot/aloha_mobile_cabinet in both its dataset and lerobot-train examples. No lerobot framework entry is recorded: no Mobile ALOHA robot config existed on main before the v0.3 Hardware API redesign or in any release, so neither "native" nor "removed" applies. The original stack is ROS 1 (Ubuntu 18.04/20.04 + Noetic) with ACT++ for training.
Framework support
No framework support recorded.
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot README uses a Mobile ALOHA dataset as its LeRobotDataset example.
“dataset = LeRobotDataset("lerobot/aloha_mobile_cabinet")”
https://github.com/huggingface/lerobot/blob/v0.6.1/README.md - T1 · upstream documentedrelease-notessource 2025-08-01verified 2026-10-24 (1d ago)lerobot 0.3.2
Real-world static + mobile ALOHA datasets were added early in LeRobot's history (PR #133).
“Add 25 real world datasets (static + mobile aloha) by @Cadene in https://github.com/huggingface/lerobot/pull/133”
https://github.com/huggingface/lerobot/releases/tag/v0.3.2 - T1 · upstream documentedsource-codesource 2025-06-05verified 2026-10-24 (1d ago)
Pre-redesign robot types were aloha, koch, koch_bimanual, moss, so101, so100, stretch, lekiwi (no mobile ALOHA).
“@RobotConfig.register_subclass("stretch")”
https://github.com/huggingface/lerobot/blob/b536f47e3ff8c3b340fc5efa52f0ece0a7212a57/lerobot/common/robot_devices/robots/configs.py - T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)
Mobile ALOHA dataset in the lerobot Hub org (six aloha_mobile_* tasks listed via Hub API, 2026-10-24).
https://huggingface.co/datasets/lerobot/aloha_mobile_cabinet - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Mobile ALOHA codebase: forked from ALOHA, teleop + data collection, ROS 1.
“This codebase is forked from the [ALOHA repo](https://github.com/tonyzhaozh/aloha), and contains implementation for teleoperation and data collection with the Mobile ALOHA hardware.”
https://github.com/MarkFzp/mobile-aloha/blob/0e403249c76054a68e757e590d4da4dba401c9e3/README.md