ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation Article Swipe
Haochen Shi
,
Weizhuo Wang
,
Shuran Song
,
C. Karen Liu
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2502.00893
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2502.00893
Learning-based robotics research driven by data demands a new approach to robot hardware design-one that serves as both a platform for policy execution and a tool for embodied data collection to train policies. We introduce ToddlerBot, a low-cost, open-source humanoid robot platform designed for scalable policy learning and research in robotics and AI. ToddlerBot enables seamless acquisition of high-quality simulation and real-world data. The plug-and-play zero-point calibration and transferable motor system identification ensure a high-fidelity digital twin, enabling zero-shot policy transfer from simulation to the real world. A user-friendly teleoperation interface facilitates streamlined real-world data collection for learning motor skills from human demonstrations. Utilizing its data collection ability and anthropomorphic design, ToddlerBot is an ideal platform to perform whole-body loco-manipulation. Additionally, ToddlerBot's compact size (0.56m, 3.4kg) ensures safe operation in real-world environments. Reproducibility is achieved with an entirely 3D-printed, open-source design and commercially available components, keeping the total cost under 6,000 USD. Comprehensive documentation allows assembly and maintenance with basic technical expertise, as validated by a successful independent replication of the system. We demonstrate ToddlerBot's capabilities through arm span, payload, endurance tests, loco-manipulation tasks, and a collaborative long-horizon scenario where two robots tidy a toy session together. By advancing ML-compatibility, capability, and reproducibility, ToddlerBot provides a robust platform for scalable learning and dynamic policy execution in robotics research.
Related Topics
Concepts
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2502.00893
- https://arxiv.org/pdf/2502.00893
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4407124430
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4407124430Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2502.00893Digital Object Identifier
- Title
-
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-ManipulationWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2025Year of publication
- Publication date
-
2025-02-02Full publication date if available
- Authors
-
Haochen Shi, Weizhuo Wang, Shuran Song, C. Karen LiuList of authors in order
- Landing page
-
https://arxiv.org/abs/2502.00893Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2502.00893Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2502.00893Direct OA link when available
- Concepts
-
Open source, Open platform, Humanoid robot, Computer science, Operating system, Human–computer interaction, Artificial intelligence, Software, RobotTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W4407124430 |
|---|---|
| doi | https://doi.org/10.48550/arxiv.2502.00893 |
| ids.doi | https://doi.org/10.48550/arxiv.2502.00893 |
| ids.openalex | https://openalex.org/W4407124430 |
| fwci | |
| type | preprint |
| title | ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation |
| biblio.issue | |
| biblio.volume | |
| biblio.last_page | |
| biblio.first_page | |
| topics[0].id | https://openalex.org/T10879 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 0.9945999979972839 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2204 |
| topics[0].subfield.display_name | Biomedical Engineering |
| topics[0].display_name | Robotic Locomotion and Control |
| topics[1].id | https://openalex.org/T10586 |
| topics[1].field.id | https://openalex.org/fields/17 |
| topics[1].field.display_name | Computer Science |
| topics[1].score | 0.9739999771118164 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/1707 |
| topics[1].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[1].display_name | Robotic Path Planning Algorithms |
| topics[2].id | https://openalex.org/T10709 |
| topics[2].field.id | https://openalex.org/fields/32 |
| topics[2].field.display_name | Psychology |
| topics[2].score | 0.964900016784668 |
| topics[2].domain.id | https://openalex.org/domains/2 |
| topics[2].domain.display_name | Social Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/3207 |
| topics[2].subfield.display_name | Social Psychology |
| topics[2].display_name | Social Robot Interaction and HRI |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C3018397939 |
| concepts[0].level | 3 |
| concepts[0].score | 0.7723557949066162 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q3644502 |
| concepts[0].display_name | Open source |
| concepts[1].id | https://openalex.org/C108383078 |
| concepts[1].level | 3 |
| concepts[1].score | 0.484275758266449 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q7096399 |
| concepts[1].display_name | Open platform |
| concepts[2].id | https://openalex.org/C60692881 |
| concepts[2].level | 3 |
| concepts[2].score | 0.4828570485115051 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q584529 |
| concepts[2].display_name | Humanoid robot |
| concepts[3].id | https://openalex.org/C41008148 |
| concepts[3].level | 0 |
| concepts[3].score | 0.4683380126953125 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[3].display_name | Computer science |
| concepts[4].id | https://openalex.org/C111919701 |
| concepts[4].level | 1 |
| concepts[4].score | 0.35171324014663696 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q9135 |
| concepts[4].display_name | Operating system |
| concepts[5].id | https://openalex.org/C107457646 |
| concepts[5].level | 1 |
| concepts[5].score | 0.3369501829147339 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q207434 |
| concepts[5].display_name | Human–computer interaction |
| concepts[6].id | https://openalex.org/C154945302 |
| concepts[6].level | 1 |
| concepts[6].score | 0.2334975302219391 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[6].display_name | Artificial intelligence |
| concepts[7].id | https://openalex.org/C2777904410 |
| concepts[7].level | 2 |
| concepts[7].score | 0.060876935720443726 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q7397 |
| concepts[7].display_name | Software |
| concepts[8].id | https://openalex.org/C90509273 |
| concepts[8].level | 2 |
| concepts[8].score | 0.0 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[8].display_name | Robot |
| keywords[0].id | https://openalex.org/keywords/open-source |
| keywords[0].score | 0.7723557949066162 |
| keywords[0].display_name | Open source |
| keywords[1].id | https://openalex.org/keywords/open-platform |
| keywords[1].score | 0.484275758266449 |
| keywords[1].display_name | Open platform |
| keywords[2].id | https://openalex.org/keywords/humanoid-robot |
| keywords[2].score | 0.4828570485115051 |
| keywords[2].display_name | Humanoid robot |
| keywords[3].id | https://openalex.org/keywords/computer-science |
| keywords[3].score | 0.4683380126953125 |
| keywords[3].display_name | Computer science |
| keywords[4].id | https://openalex.org/keywords/operating-system |
| keywords[4].score | 0.35171324014663696 |
| keywords[4].display_name | Operating system |
| keywords[5].id | https://openalex.org/keywords/human–computer-interaction |
| keywords[5].score | 0.3369501829147339 |
| keywords[5].display_name | Human–computer interaction |
| keywords[6].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[6].score | 0.2334975302219391 |
| keywords[6].display_name | Artificial intelligence |
| keywords[7].id | https://openalex.org/keywords/software |
| keywords[7].score | 0.060876935720443726 |
| keywords[7].display_name | Software |
| language | en |
| locations[0].id | pmh:oai:arXiv.org:2502.00893 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S4306400194 |
| locations[0].source.issn | |
| locations[0].source.type | repository |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | |
| locations[0].source.is_core | False |
| locations[0].source.is_in_doaj | False |
| locations[0].source.display_name | arXiv (Cornell University) |
| locations[0].source.host_organization | https://openalex.org/I205783295 |
| locations[0].source.host_organization_name | Cornell University |
| locations[0].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[0].license | |
| locations[0].pdf_url | https://arxiv.org/pdf/2502.00893 |
| locations[0].version | submittedVersion |
| locations[0].raw_type | text |
| locations[0].license_id | |
| locations[0].is_accepted | False |
| locations[0].is_published | False |
| locations[0].raw_source_name | |
| locations[0].landing_page_url | http://arxiv.org/abs/2502.00893 |
| locations[1].id | doi:10.48550/arxiv.2502.00893 |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306400194 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | True |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | arXiv (Cornell University) |
| locations[1].source.host_organization | https://openalex.org/I205783295 |
| locations[1].source.host_organization_name | Cornell University |
| locations[1].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[1].license | |
| locations[1].pdf_url | |
| locations[1].version | |
| locations[1].raw_type | article |
| locations[1].license_id | |
| locations[1].is_accepted | False |
| locations[1].is_published | |
| locations[1].raw_source_name | |
| locations[1].landing_page_url | https://doi.org/10.48550/arxiv.2502.00893 |
| indexed_in | arxiv, datacite |
| authorships[0].author.id | https://openalex.org/A5066687788 |
| authorships[0].author.orcid | https://orcid.org/0000-0002-9999-8979 |
| authorships[0].author.display_name | Haochen Shi |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Shi, Haochen |
| authorships[0].is_corresponding | False |
| authorships[1].author.id | https://openalex.org/A5070628412 |
| authorships[1].author.orcid | https://orcid.org/0000-0002-1225-4011 |
| authorships[1].author.display_name | Weizhuo Wang |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Wang, Weizhuo |
| authorships[1].is_corresponding | False |
| authorships[2].author.id | https://openalex.org/A5004644695 |
| authorships[2].author.orcid | https://orcid.org/0000-0002-8768-7356 |
| authorships[2].author.display_name | Shuran Song |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Song, Shuran |
| authorships[2].is_corresponding | False |
| authorships[3].author.id | https://openalex.org/A5048338914 |
| authorships[3].author.orcid | https://orcid.org/0000-0001-5926-0905 |
| authorships[3].author.display_name | C. Karen Liu |
| authorships[3].author_position | last |
| authorships[3].raw_author_name | Liu, C. Karen |
| authorships[3].is_corresponding | False |
| has_content.pdf | False |
| has_content.grobid_xml | False |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://arxiv.org/pdf/2502.00893 |
| open_access.oa_status | green |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-11-06T06:51:31.235846 |
| primary_topic.id | https://openalex.org/T10879 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 0.9945999979972839 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2204 |
| primary_topic.subfield.display_name | Biomedical Engineering |
| primary_topic.display_name | Robotic Locomotion and Control |
| related_works | https://openalex.org/W2023673147, https://openalex.org/W2341842730, https://openalex.org/W2766886861, https://openalex.org/W177188689, https://openalex.org/W2951415294, https://openalex.org/W2022349550, https://openalex.org/W2377213713, https://openalex.org/W4289478741, https://openalex.org/W2795267055, https://openalex.org/W4242732953 |
| cited_by_count | 0 |
| locations_count | 2 |
| best_oa_location.id | pmh:oai:arXiv.org:2502.00893 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S4306400194 |
| best_oa_location.source.issn | |
| best_oa_location.source.type | repository |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | |
| best_oa_location.source.is_core | False |
| best_oa_location.source.is_in_doaj | False |
| best_oa_location.source.display_name | arXiv (Cornell University) |
| best_oa_location.source.host_organization | https://openalex.org/I205783295 |
| best_oa_location.source.host_organization_name | Cornell University |
| best_oa_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| best_oa_location.license | |
| best_oa_location.pdf_url | https://arxiv.org/pdf/2502.00893 |
| best_oa_location.version | submittedVersion |
| best_oa_location.raw_type | text |
| best_oa_location.license_id | |
| best_oa_location.is_accepted | False |
| best_oa_location.is_published | False |
| best_oa_location.raw_source_name | |
| best_oa_location.landing_page_url | http://arxiv.org/abs/2502.00893 |
| primary_location.id | pmh:oai:arXiv.org:2502.00893 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S4306400194 |
| primary_location.source.issn | |
| primary_location.source.type | repository |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | |
| primary_location.source.is_core | False |
| primary_location.source.is_in_doaj | False |
| primary_location.source.display_name | arXiv (Cornell University) |
| primary_location.source.host_organization | https://openalex.org/I205783295 |
| primary_location.source.host_organization_name | Cornell University |
| primary_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| primary_location.license | |
| primary_location.pdf_url | https://arxiv.org/pdf/2502.00893 |
| primary_location.version | submittedVersion |
| primary_location.raw_type | text |
| primary_location.license_id | |
| primary_location.is_accepted | False |
| primary_location.is_published | False |
| primary_location.raw_source_name | |
| primary_location.landing_page_url | http://arxiv.org/abs/2502.00893 |
| publication_date | 2025-02-02 |
| publication_year | 2025 |
| referenced_works_count | 0 |
| abstract_inverted_index.A | 87 |
| abstract_inverted_index.a | 7, 18, 24, 36, 73, 165, 185, 193, 205 |
| abstract_inverted_index.By | 197 |
| abstract_inverted_index.We | 33, 172 |
| abstract_inverted_index.an | 113, 136 |
| abstract_inverted_index.as | 16, 162 |
| abstract_inverted_index.by | 4, 164 |
| abstract_inverted_index.in | 49, 129, 215 |
| abstract_inverted_index.is | 112, 133 |
| abstract_inverted_index.of | 57, 169 |
| abstract_inverted_index.to | 10, 30, 83, 116 |
| abstract_inverted_index.AI. | 52 |
| abstract_inverted_index.The | 63 |
| abstract_inverted_index.and | 23, 47, 51, 60, 67, 108, 141, 156, 184, 201, 211 |
| abstract_inverted_index.arm | 177 |
| abstract_inverted_index.for | 20, 26, 43, 96, 208 |
| abstract_inverted_index.its | 104 |
| abstract_inverted_index.new | 8 |
| abstract_inverted_index.the | 84, 146, 170 |
| abstract_inverted_index.toy | 194 |
| abstract_inverted_index.two | 190 |
| abstract_inverted_index.USD. | 151 |
| abstract_inverted_index.both | 17 |
| abstract_inverted_index.cost | 148 |
| abstract_inverted_index.data | 5, 28, 94, 105 |
| abstract_inverted_index.from | 81, 100 |
| abstract_inverted_index.real | 85 |
| abstract_inverted_index.safe | 127 |
| abstract_inverted_index.size | 123 |
| abstract_inverted_index.that | 14 |
| abstract_inverted_index.tidy | 192 |
| abstract_inverted_index.tool | 25 |
| abstract_inverted_index.with | 135, 158 |
| abstract_inverted_index.6,000 | 150 |
| abstract_inverted_index.basic | 159 |
| abstract_inverted_index.data. | 62 |
| abstract_inverted_index.human | 101 |
| abstract_inverted_index.ideal | 114 |
| abstract_inverted_index.motor | 69, 98 |
| abstract_inverted_index.robot | 11, 40 |
| abstract_inverted_index.span, | 178 |
| abstract_inverted_index.total | 147 |
| abstract_inverted_index.train | 31 |
| abstract_inverted_index.twin, | 76 |
| abstract_inverted_index.under | 149 |
| abstract_inverted_index.where | 189 |
| abstract_inverted_index.3.4kg) | 125 |
| abstract_inverted_index.allows | 154 |
| abstract_inverted_index.design | 140 |
| abstract_inverted_index.driven | 3 |
| abstract_inverted_index.ensure | 72 |
| abstract_inverted_index.policy | 21, 45, 79, 213 |
| abstract_inverted_index.robots | 191 |
| abstract_inverted_index.robust | 206 |
| abstract_inverted_index.serves | 15 |
| abstract_inverted_index.skills | 99 |
| abstract_inverted_index.system | 70 |
| abstract_inverted_index.tasks, | 183 |
| abstract_inverted_index.tests, | 181 |
| abstract_inverted_index.world. | 86 |
| abstract_inverted_index.(0.56m, | 124 |
| abstract_inverted_index.ability | 107 |
| abstract_inverted_index.compact | 122 |
| abstract_inverted_index.demands | 6 |
| abstract_inverted_index.design, | 110 |
| abstract_inverted_index.digital | 75 |
| abstract_inverted_index.dynamic | 212 |
| abstract_inverted_index.enables | 54 |
| abstract_inverted_index.ensures | 126 |
| abstract_inverted_index.keeping | 145 |
| abstract_inverted_index.perform | 117 |
| abstract_inverted_index.session | 195 |
| abstract_inverted_index.system. | 171 |
| abstract_inverted_index.through | 176 |
| abstract_inverted_index.achieved | 134 |
| abstract_inverted_index.approach | 9 |
| abstract_inverted_index.assembly | 155 |
| abstract_inverted_index.designed | 42 |
| abstract_inverted_index.embodied | 27 |
| abstract_inverted_index.enabling | 77 |
| abstract_inverted_index.entirely | 137 |
| abstract_inverted_index.hardware | 12 |
| abstract_inverted_index.humanoid | 39 |
| abstract_inverted_index.learning | 46, 97, 210 |
| abstract_inverted_index.payload, | 179 |
| abstract_inverted_index.platform | 19, 41, 115, 207 |
| abstract_inverted_index.provides | 204 |
| abstract_inverted_index.research | 2, 48 |
| abstract_inverted_index.robotics | 1, 50, 216 |
| abstract_inverted_index.scalable | 44, 209 |
| abstract_inverted_index.scenario | 188 |
| abstract_inverted_index.seamless | 55 |
| abstract_inverted_index.transfer | 80 |
| abstract_inverted_index.Utilizing | 103 |
| abstract_inverted_index.advancing | 198 |
| abstract_inverted_index.available | 143 |
| abstract_inverted_index.endurance | 180 |
| abstract_inverted_index.execution | 22, 214 |
| abstract_inverted_index.interface | 90 |
| abstract_inverted_index.introduce | 34 |
| abstract_inverted_index.low-cost, | 37 |
| abstract_inverted_index.operation | 128 |
| abstract_inverted_index.policies. | 32 |
| abstract_inverted_index.research. | 217 |
| abstract_inverted_index.technical | 160 |
| abstract_inverted_index.together. | 196 |
| abstract_inverted_index.validated | 163 |
| abstract_inverted_index.zero-shot | 78 |
| abstract_inverted_index.ToddlerBot | 53, 111, 203 |
| abstract_inverted_index.collection | 29, 95, 106 |
| abstract_inverted_index.design-one | 13 |
| abstract_inverted_index.expertise, | 161 |
| abstract_inverted_index.real-world | 61, 93, 130 |
| abstract_inverted_index.simulation | 59, 82 |
| abstract_inverted_index.successful | 166 |
| abstract_inverted_index.whole-body | 118 |
| abstract_inverted_index.zero-point | 65 |
| abstract_inverted_index.3D-printed, | 138 |
| abstract_inverted_index.ToddlerBot, | 35 |
| abstract_inverted_index.acquisition | 56 |
| abstract_inverted_index.calibration | 66 |
| abstract_inverted_index.capability, | 200 |
| abstract_inverted_index.components, | 144 |
| abstract_inverted_index.demonstrate | 173 |
| abstract_inverted_index.facilitates | 91 |
| abstract_inverted_index.independent | 167 |
| abstract_inverted_index.maintenance | 157 |
| abstract_inverted_index.open-source | 38, 139 |
| abstract_inverted_index.replication | 168 |
| abstract_inverted_index.streamlined | 92 |
| abstract_inverted_index.ToddlerBot's | 121, 174 |
| abstract_inverted_index.capabilities | 175 |
| abstract_inverted_index.commercially | 142 |
| abstract_inverted_index.high-quality | 58 |
| abstract_inverted_index.long-horizon | 187 |
| abstract_inverted_index.transferable | 68 |
| abstract_inverted_index.Additionally, | 120 |
| abstract_inverted_index.Comprehensive | 152 |
| abstract_inverted_index.collaborative | 186 |
| abstract_inverted_index.documentation | 153 |
| abstract_inverted_index.environments. | 131 |
| abstract_inverted_index.high-fidelity | 74 |
| abstract_inverted_index.plug-and-play | 64 |
| abstract_inverted_index.teleoperation | 89 |
| abstract_inverted_index.user-friendly | 88 |
| abstract_inverted_index.Learning-based | 0 |
| abstract_inverted_index.identification | 71 |
| abstract_inverted_index.Reproducibility | 132 |
| abstract_inverted_index.anthropomorphic | 109 |
| abstract_inverted_index.demonstrations. | 102 |
| abstract_inverted_index.reproducibility, | 202 |
| abstract_inverted_index.ML-compatibility, | 199 |
| abstract_inverted_index.loco-manipulation | 182 |
| abstract_inverted_index.loco-manipulation. | 119 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 4 |
| citation_normalized_percentile |