SOURCE-LINKED INTELLIGENCE

ULOHA: An Underwater Bimanual Robot System for Robot Learning

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Underwater visuomotor policy learning has focused primarily on single manipulators, while bimanual imitation learning has been studied largely in air. We present ULOHA, an underwater bimanual robot learning platform that combines custom-designed leader--follower hardware with software extensions to LeRobot, integrating teleoperation, multi-view sensing, demonstration collection, policy training, and autonomous deployment. Real-robot experiments demonstrate a range of coordinated underwater bimanual behaviors, including inter-arm transfer, shared-object manipulation, and buoyancy-driven interce

Read original source ↗ Open in workspace

recordType

paper

region

Global