Roadmap: AlohaMini Development Plan (2026)

[liyiteng]

This issue tracks the development roadmap of AlohaMini.
Feel free to pick any item you’re interested in contributing to!

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Simulation & Training

• Generate URDF (in progress)
• Build simulation environments (MuJoCo / Isaac Sim / ManiSkill / etc.)
• Train in simulation
• Sim2Real transfer
• Publish runnable training demos

6-DoF Arm

• Complete mechanical design (in progress)
• Build 6-DoF URDF
• Implement IK solver
• Validate real-robot motion

Algorithm Reproduction

• ACT → DP → Pi0.5 → Gr00t / SmolVLA / EVO-1 → Pi0.6 → RL
• Release ready-to-run real-robot demos

Teleoperation

• VR / Switch controller teleoperation
• “First teleoperation” beginner guide

Force Interaction & Safety

• Improve current protection
• Read motor current
• Detect contact
• Control gripper force

Software Cleanup & Docs

• Translate Chinese comments → English
• Add URDF/MuJoCo documentation
• Basic control demos (wheels, lift, teleop)

Hardware Extensions

• Add microphone & speaker
• Provide audio input/output APIs & examples

Visual SLAM

• Implement visual SLAM pipeline
• Real-time localization & mapping
• Integrate with navigation & teleop

Cloud Training & Inference Integration

• Connect to cloud training pipelines
• Remote training
• Cloud-hosted inference

Three-Finger Gripper Upgrade

• Replace dual 2-finger with 3-finger adaptive gripper

Haptic / Tactile Sensing

• Add tactile sensors
• Contact & slip detection
• Integrate tactile feedback into grasping

UMI Data Collection

• Build UMI-style teleop setup
• Collect high-quality demos
• Release open datasets
• Train ACT / DP / Pi0.5 / RL

R2-D2 Robot Plan

• Build R2-D2–style mobile robot
• LLM-based voice tasks
• YOLO object detection
• IK-based grasping

Lift Axis Performance Optimization

• Reduce stuttering under low-bandwidth WiFi
• Improve stability during multi-camera streaming

[G-structure]

This is awesome work, and I am glad I found this project as was about to start on a similar design. @liyiteng can you push anything you've got so far with the URDF, I can also generate this in solid works pretty easily. I'd love to see if we could get this running in Issac sim by the end of the week.

If we can generate sufficient data as a community through simulation and teleop I can help fund training of pi0.6 model

Another thing I would like to add too this list is an alternative base design, I have the Bambu H2S which is a rather large printer and am unable to print the base.

[liyiteng]

This is awesome work, and I am glad I found this project as was about to start on a similar design. @liyiteng can you push anything you've got so far with the URDF, I can also generate this in solid works pretty easily. I'd love to see if we could get this running in Issac sim by the end of the week.

If we can generate sufficient data as a community through simulation and teleop I can help fund training of pi0.6 model

Another thing I would like to add too this list is an alternative base design, I have the Bambu H2S which is a rather large printer and am unable to print the base.

Thanks so much for the encouragement! It’s great timing — I’m thrilled to see more hands on deck for AlohaMini.

Regarding the files: I actually pushed the latest updates today, including the URDF and initial simulation setup. Please take a look and let me know if they work for you.

Regarding the Base Design: You're absolutely right. The large footprint is a known hurdle. We’ve added "Bambu-friendly/Small-printer-compatible base" to our official roadmap. We are currently exploring a modular/split design to make it accessible to more makers.

By the way, the offer to help fund Pi0.6 training is incredible. Let’s see if we can get that Isaac Sim demo running by the weekend!