Muted demo loop from the projectCredit: ALOHA project page (Zhao et al.)

Teleoperate two arms at once with ALOHA

Arm, Hard

ALOHA is the low-cost open-source bimanual teleop system from Stanford: two leader arms puppet two follower arms for collecting dexterous demos.

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The repo has teleop and data collection scripts plus ROS launch files for four arms and four cameras; train with ACT. It defined the modern imitation-learning playbook.

Hardware & cost: Four Interbotix arms and cameras; a five-figure build (see the hardware tutorial). Cheaper clones use SO-101s with LeRobot.

Difficulty: Hard.

Agent install prompt (paste into Claude Code, Cursor or Codex): "Read https://github.com/tonyzhaozh/aloha and its hardware tutorial, then explain the cheapest way to replicate the bimanual setup with SO-101 arms in LeRobot."

Source: tonyzhaozh/aloha on GitHub — https://github.com/tonyzhaozh/aloha (facts checked against the project README, Oct 2026; prices vary by region).

Quick answers

What do you need to teleoperate two arms at once with ALOHA?: Four Interbotix arms and cameras; a five-figure build (see the hardware tutorial). Cheaper clones use SO-101s with LeRobot.
How hard is it to teleoperate two arms at once with ALOHA?: Hard.

Interfaces