# liyiteng/AlohaMini

Open-Source Dual-Arm Mobile Robot with Motorized Lift

Repository: https://github.com/liyiteng/AlohaMini
Canonical: https://ross.abutalabs.com/products/alohamini
Language: Python
License: Apache-2.0
License Family: permissive
Last push: 2026-07-01T16:17:19+00:00

## Health v2 (maintenance only)
Score: 57/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 90, release rhythm 35, longevity 21
- inputs: {"age_days": 303, "days_push": 63, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1034, forks 126 (observed 2026-08-28T04:03:18.649520+00:00)

## What it is
AlohaMini is an open-source, 3D-printable dual-arm mobile robot with a motorized lift, buildable for under $1,000. It is LeRobot-ready for embodied AI research, including hardware CAD, URDF, simulation assets, and fine-tuning/deployment guides for vision-language-action models.

## Use cases
- build a low-cost dual-arm mobile manipulator
- collect teleoperation data for robot learning
- train and deploy VLA models like Pi 0.5 on real hardware
- simulate a dual-arm robot with URDF assets
- research embodied AI manipulation on a budget

## When to choose
- you want an affordable open-source robot for manipulation research
- you need LeRobot-compatible hardware for imitation learning
- you want fully open hardware CAD and software

## When to avoid
- you need industrial-grade payload or precision
- you cannot 3D-print or assemble hardware yourself
- you only need simulation without physical hardware

## Facets
- artifact type: application
- maturity: active
- function: robotics, machine-learning, simulation, sdk
- domain: robotics, machine-learning, hardware, artificial-intelligence
- platform: python, embedded
- tags: open-source-hardware, dual-arm-robot, mobile-robot, 3d-printable, lerobot, embodied-ai, teleoperation, imitation-learning, linux

## Member repositories
- liyiteng/AlohaMini (main) score 57

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:18.649520+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T07:06:34.486711+00:00, confidence not recorded.
  - readme: https://github.com/liyiteng/AlohaMini (fetched 2026-08-28T04:03:18.649520+00:00, sha 640f4524d017)
- Data as of 2026-08-30T08:39:29.467469+00:00.