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The authors introduce OpenPyRo-A1, a low-cost (approximately $14K) bimanual humanoid robot with 0.2mm repeatability and 5kg payload per arm, designed to address the scarcity of affordable dual-arm platforms for embodied AI research. They also present a Python-first distributed control framework, installable via pip, to facilitate teleoperation, data collection, and policy deployment. Imitation learning experiments, integrating the robot with perception models, motion planning, and a large language model, demonstrate the platform's stability, user-friendliness, and high precision.
A $14K bimanual robot with a Python-first control framework could democratize embodied AI research by lowering the barrier to entry for complex manipulation tasks.
Many real-world tasks, such as assembly, cooking, and object handovers, require bi-manual coordination. Learning such skills via imitation remains challenging due to dataset scarcity, mainly caused by the high cost of bi-manual robotic platforms and barriers to entry in robotics software. To address these challenges, we introduce (1) OpenPyRo-A1, a low-cost, bi-manual humanoid robot priced at approximately $14鈥塊. OpenPyRo-A1 achieves <inline-formula><tex-math notation="LaTeX">$\text{0.2}\,\text{mm}$</tex-math></inline-formula> repeatability and supports a <inline-formula><tex-math notation="LaTeX">$\text{5}\,\text{kg}$</tex-math></inline-formula> payload per arm, and (2) a Python-first distributed control framework for seamless teleoperation, data collection, and policy deployment, designed for ease of use; moreover, the code-base is installable via <monospace>pip</monospace>. We conducted imitation learning experiments in both simulation and the real world, integrating the robot with perception models, motion planning, and a large language model. The results demonstrate that OpenPyRo-A1 is a stable, user-friendly, and high-precision dual-arm platform. We expect that the OpenPyRo-A1 hardware, control system, and curated dataset of bi-manual manipulation episodes will advance affordable and scalable dual-arm robotics.
