Toddlerbot: Open-Source Humanoid Robot
7 hours ago
- #AI
- #humanoid
- #robotics
- ToddlerBot is a low-cost, open-source humanoid robot platform designed for scalable policy learning and research in robotics and AI.
- Capabilities include dynamic cartwheels, crawling, walking up to 0.25m/s, and rotating up to 1 rad/s.
- VR teleoperation is possible with Meta Quest 2.
- Features real-time depth estimation from stereo fisheye cameras using Foundation Stereo.
- Mechatronic design includes 30 active DoFs, compliant palm gripper, and parallel-jaw gripper.
- Sensors include fisheye cameras, speaker, microphones, IMU, and Jetson Orin NX computer.
- Arm span test shows grasping objects 14 times its torso volume.
- Payload test: lifts 1,484 g (40% of its total weight).
- Endurance test: lasts 19 minutes before overheating, withstands up to 7 falls.
- Conversation and push-ups achieved via OpenAI's Realtime API with GPT-4o.
- Pull-ups use AprilTag for locating the horizontal bar.
- Omnidirectional walking achieved with RL and zero-shot sim-to-real transfer.
- Bimanual and full-body manipulation policies trained with 60 demonstrations.
- Skill chaining demonstrated by grasping a handle and pushing a wagon.
- Manipulation policy zero-shot transfer between ToddlerBot instances.
- Two-instance collaboration task demonstrated for room tidying.
- Easy-to-build with open-source assembly manuals and videos.