Pixel: A Co-Designed Full-Stack Robot System for Learning General-Purpose Mobile Manipulation
Overview
This paper introduces Pixel, an integrated robotics system designed for general-purpose mobile manipulation. The system combines a low-cost wheeled humanoid with human-aligned kinematics and compliant grippers, alongside multiple teleoperation and robot-free data collection interfaces. It features a unified whole-body controller and a common policy learning pipeline that processes both human and robot demonstrations. A hierarchical learning stack enables language-conditioned visuomotor control and long-horizon task execution. The authors evaluate the system across hardware, data collection, and policy learning, demonstrating capabilities in dexterity, active perception, navigation, and whole-body coordination. Pixel is positioned as an extensible foundation for studying the co-design of robot hardware, data, control, and learning.
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- arXiv Robotics — research abstractsSignalPixel: A Co-Designed Full-Stack Robot System for Learning General-Purpose Mobile Manipulation
This paper introduces Pixel, an integrated robotics system designed for general-purpose mobile manipulation. The system combines a low-cost wheeled humanoid with human-aligned kinematics and compliant grippers, alongside multiple teleoperation and robot-free data collection interfaces. It features a unified whole-body controller and a common policy learning pipeline that processes both human and robot demonstrations. A hierarchical learning stack enables language-conditioned visuomotor control and long-horizon task execution. The authors evaluate the system across hardware, data collection, and policy learning, demonstrating capabilities in dexterity, active perception, navigation, and whole-body coordination. Pixel is positioned as an extensible foundation for studying the co-design of robot hardware, data, control, and learning.
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