Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the commoditization of actuators, has propelled growth in low-cost robotic platforms. However, the optimal form factor for mobile manipulation, especially on a budget, remains an open question. We introduce YOR, an open-source, low-cost mobile manipulator that integrates an omnidirectional base, a telescopic vertical lift, and two arms with grippers to achieve whole-body mobility and manipulation. Our design emphasizes modularity, ease of assembly using off-the-shelf components, and affordability, with a bill-of-materials cost under 10,000 USD. We demonstrate YOR's capability by completing tasks that require coordinated whole-body control, bimanual manipulation, and autonomous navigation. Overall, YOR offers competitive functionality for mobile manipulation research at a fraction of the cost of existing platforms. Project website: https://www.yourownrobot.ai/

翻译：近年来，机器人学习领域的进展引发了人们对具备接近人类水平能力的机器人平台的广泛关注。这种关注与执行器日益商品化的趋势相结合，共同推动了低成本机器人平台的发展。然而，移动操作的最佳形态设计，尤其是在预算有限的情况下，仍是一个悬而未决的问题。本文介绍YOR——一种开源、低成本的移动操作机器人平台，它集成了全向移动底盘、可伸缩垂直升降机构和两个带夹持器的机械臂，以实现全身移动与操作能力。我们的设计强调模块化、使用现成组件的易组装性以及成本可负担性，其物料清单成本低于10,000美元。我们通过完成需要协调全身控制、双手操作和自主导航的任务，展示了YOR的综合能力。总体而言，YOR以远低于现有平台的成本，为移动操作研究提供了具有竞争力的功能解决方案。项目网站：https://www.yourownrobot.ai/