{"id":8982,"date":"2024-01-08T07:50:02","date_gmt":"2024-01-08T07:50:02","guid":{"rendered":"https:\/\/dailyai.com\/?p=8982"},"modified":"2024-01-08T07:50:02","modified_gmt":"2024-01-08T07:50:02","slug":"mobile-aloha-low-cost-bimanual-mobile-robot-housekeeper","status":"publish","type":"post","link":"https:\/\/dailyai.com\/fr\/2024\/01\/mobile-aloha-low-cost-bimanual-mobile-robot-housekeeper\/","title":{"rendered":"Mobile ALOHA : robot m\u00e9nager mobile bimanuel \u00e0 faible co\u00fbt"},"content":{"rendered":"<p><strong>Des chercheurs de l'universit\u00e9 de Stanford ont am\u00e9lior\u00e9 leur robot statique ALOHA en construisant une version enti\u00e8rement mobile qui peut \u00eatre entra\u00een\u00e9e \u00e0 effectuer des t\u00e2ches m\u00e9nag\u00e8res.<\/strong><\/p>\n<p>Pour qu'un robot soit utile dans une s\u00e9rie de t\u00e2ches g\u00e9n\u00e9ralis\u00e9es, il doit pouvoir se d\u00e9placer et disposer d'une gamme compl\u00e8te de mouvements de pr\u00e9cision pour ses bras. Nous avons vu des d\u00e9monstrations impressionnantes de ce type de robots, comme l'Optimus de Tesla, mais ils sont souvent co\u00fbteux ou indisponibles.<\/p>\n<p>L'ann\u00e9e derni\u00e8re, Tony Zhao a dirig\u00e9 une \u00e9quipe qui a d\u00e9velopp\u00e9 ALOHA, un logiciel libre \u00e0 faible co\u00fbt pour contr\u00f4ler un robot bimanuel, ou \u00e0 deux bras. Les premi\u00e8res d\u00e9monstrations des capacit\u00e9s d'ALOHA \u00e9taient impressionnantes, mais le robot \u00e9tait statique, ne fonctionnant que sur les objets plac\u00e9s devant lui sur un bureau.<\/p>\n<p>Avec <a href=\"https:\/\/arxiv.org\/pdf\/2401.02117.pdf\" target=\"_blank\" rel=\"noopener\">Mobile ALOHA<\/a>L'\u00e9quipe dirig\u00e9e par Zhao et Zipeng Fu a cr\u00e9\u00e9 un robot capable de naviguer dans un environnement complexe tel qu'une maison, ce qui ouvre la voie \u00e0 une s\u00e9rie de nouvelles applications.<\/p>\n<p>Le robot \u00e9tait capable de faire cuire des aliments, d'essuyer un vin renvers\u00e9 sur un comptoir, de ranger des chaises ou d'appeler un ascenseur.<\/p>\n<p>Certains de ces \u00e9l\u00e9ments peuvent sembler triviaux, mais il n'est pas facile de faire faire \u00e0 un robot quelque chose comme appeler un ascenseur. Il doit se diriger vers l'ascenseur \u00e0 partir de points de d\u00e9part potentiellement diff\u00e9rents, localiser avec pr\u00e9cision un bouton de 2 cm x 2 cm, appuyer sur le bouton avec la bonne force, puis entrer dans l'ascenseur.<\/p>\n<p><iframe loading=\"lazy\" title=\"Mobile ALOHA : votre robot m\u00e9nager\" width=\"1080\" height=\"608\" src=\"https:\/\/www.youtube.com\/embed\/HaaZ8ss-HP4?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<h2>Apprentissage par imitation<\/h2>\n<p>La cl\u00e9 de l'apprentissage de nouvelles comp\u00e9tences par le robot est un processus d'apprentissage par imitation \u00e0 partir de d\u00e9monstrations humaines. Souvent, on utilise des vid\u00e9os ou des ensembles de donn\u00e9es tels que <a href=\"https:\/\/dailyai.com\/fr\/2023\/10\/open-x-embodiment-dataset-rt-x-model-a-leap-for-ai-robots\/\">RT-X de Google<\/a>. Avec Mobile ALOHA, les chercheurs ont utilis\u00e9 ces ensembles de donn\u00e9es mais ont \u00e9galement adopt\u00e9 une approche diff\u00e9rente. Le robot est \u00e9quip\u00e9 d'une interface qui permet \u00e0 un op\u00e9rateur d'\u00eatre attach\u00e9 \u00e0 lui afin que l'op\u00e9rateur puisse contr\u00f4ler le robot pendant qu'il effectue une t\u00e2che.<\/p>\n<p>Apr\u00e8s avoir d\u00e9montr\u00e9 une t\u00e2che 50 fois, l'interface d'attache peut \u00eatre retir\u00e9e et Mobile ALOHA accomplira la t\u00e2che avec succ\u00e8s jusqu'\u00e0 90% du temps.<\/p>\n<p>L'apprentissage par imitation est tr\u00e8s utile pour enseigner de nouvelles comp\u00e9tences aux robots, mais il pr\u00e9sente ses propres difficult\u00e9s, en particulier dans les domaines n\u00e9cessitant une grande pr\u00e9cision. Mobile ALOHA utilise un nouvel algorithme appel\u00e9 Action Chunk with Transformers (ACT) que l'\u00e9quipe de Zhao a d\u00e9velopp\u00e9 l'ann\u00e9e derni\u00e8re.<\/p>\n<p>L'algorithme ACT am\u00e9liore l'efficacit\u00e9 en pr\u00e9disant les actions par morceaux, ce qui r\u00e9duit la complexit\u00e9 de la t\u00e2che.<\/p>\n<p>Avec Mobile ALOHA, les chercheurs ont d\u00e9clar\u00e9 qu'ils \u00e9taient \"les premiers \u00e0 constater que le co-entra\u00eenement avec des ensembles de donn\u00e9es de manipulation statiques am\u00e9liore les performances et l'efficacit\u00e9 des donn\u00e9es des politiques de manipulation mobile\".<\/p>\n<p>Cela signifie que les nombreux ensembles de donn\u00e9es existants cr\u00e9\u00e9s avec des robots statiques pourraient \u00eatre tr\u00e8s utiles pour la formation des robots mobiles.<\/p>\n<blockquote class=\"twitter-tweet\">\n<p dir=\"ltr\" lang=\"en\">Que vous ai-je dit il y a quelques jours ? 2024 est l'ann\u00e9e de la robotique. Mobile-ALOHA est un robot \u00e0 code source ouvert capable d'effectuer des t\u00e2ches dextres et bimanuelles comme la pr\u00e9paration d'un repas (avec la t\u00e9l\u00e9op\u00e9ration d'un humain). Tr\u00e8s bient\u00f4t, le mat\u00e9riel ne sera plus un goulot d'\u00e9tranglement dans notre qu\u00eate de... <a href=\"https:\/\/t.co\/vMi3XkqKeh\">pic.twitter.com\/vMi3XkqKeh<\/a><\/p>\n<p>- Jim Fan (@DrJimFan) <a href=\"https:\/\/twitter.com\/DrJimFan\/status\/1742940245262471346?ref_src=twsrc%5Etfw\">4 janvier 2024<\/a><\/p><\/blockquote>\n<p><script async src=\"https:\/\/platform.twitter.com\/widgets.js\" charset=\"utf-8\"><\/script><\/p>\n<h2>Accessible et abordable<\/h2>\n<p>Aussi impressionnantes que soient les d\u00e9monstrations, le mat\u00e9riel pr\u00eat \u00e0 l'emploi et le faible co\u00fbt de la solution rendent Mobile ALOHA particuli\u00e8rement int\u00e9ressant.<\/p>\n<p>Le robot est contr\u00f4l\u00e9 par un ordinateur portable ordinaire \u00e9quip\u00e9 d'un GPU Nvidia 3070 Ti (8 Go de VRAM) et d'un processeur Intel i7-12800H. L'ordinateur portable re\u00e7oit des flux vid\u00e9o de trois webcams Logitech C922x RGB, chacune fonctionnant \u00e0 une r\u00e9solution de 480\u00d7640.<\/p>\n<p>Le robot est aliment\u00e9 par une batterie de 1,26 kWh qui sert \u00e9galement de poids d'\u00e9quilibrage de 14 kg pour emp\u00eacher le robot de basculer.<\/p>\n<p>La facture totale de Mobile ALOHA s'est \u00e9lev\u00e9e \u00e0 $32 000. Ce n'est pas mal si l'on consid\u00e8re qu'il s'agit d'un prototype. S'il \u00e9tait mis en production, Mobile ALOHA pourrait co\u00fbter beaucoup moins cher que cela. Et le fait qu'il s'agisse d'un logiciel libre signifie que de multiples d\u00e9veloppements mat\u00e9riels pourraient bient\u00f4t \u00eatre cr\u00e9\u00e9s pour la plateforme, ce qui ferait encore baisser les co\u00fbts.<\/p>\n<p>Elon Musk a pr\u00e9dit que le robot Optimus de Tesla sera finalement vendu au d\u00e9tail \u00e0 environ $20k. Il n'y a toujours pas de bouton \"ajouter au panier\" sur le site web de Tesla, quel que soit le prix que vous seriez pr\u00eat \u00e0 payer pour en acqu\u00e9rir un.<\/p>\n<p>Avec Mobile ALOHA, nous disposons d\u00e9sormais d'une excellente solution logicielle et mat\u00e9rielle qui laisse pr\u00e9sager que nous aurons des robots m\u00e9nagers bien plus t\u00f4t que nous ne le pensions.<\/p>","protected":false},"excerpt":{"rendered":"<p>Des chercheurs de l'universit\u00e9 de Stanford ont am\u00e9lior\u00e9 leur robot statique ALOHA en construisant une version enti\u00e8rement mobile qui peut \u00eatre entra\u00een\u00e9e \u00e0 effectuer des t\u00e2ches m\u00e9nag\u00e8res. Pour qu'un robot soit utile dans une gamme de t\u00e2ches g\u00e9n\u00e9ralis\u00e9es, il doit pouvoir se d\u00e9placer et disposer d'une gamme compl\u00e8te de mouvements de pr\u00e9cision pour ses bras. Nous avons vu des d\u00e9monstrations impressionnantes de ce type de robots, comme l'Optimus de Tesla, mais ils sont souvent co\u00fbteux ou indisponibles. L'ann\u00e9e derni\u00e8re, Tony Zhao a dirig\u00e9 une \u00e9quipe qui a mis au point ALOHA, un logiciel libre \u00e0 faible co\u00fbt permettant de contr\u00f4ler un robot bimanuel, c'est-\u00e0-dire \u00e0 deux bras. Les premi\u00e8res d\u00e9monstrations de<\/p>","protected":false},"author":6,"featured_media":8984,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[84],"tags":[169],"class_list":["post-8982","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-industry","tag-robotics"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Mobile ALOHA: Low-cost bimanual mobile robot housekeeper | DailyAI<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/dailyai.com\/fr\/2024\/01\/mobile-aloha-low-cost-bimanual-mobile-robot-housekeeper\/\" \/>\n<meta property=\"og:locale\" content=\"fr_FR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Mobile ALOHA: Low-cost bimanual mobile robot housekeeper | DailyAI\" \/>\n<meta property=\"og:description\" content=\"Stanford University researchers have improved on their static ALOHA robot by building a fully mobile version that can be trained to perform household tasks. 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