One robot. Two arms. Thirty-four finger joints. Zero excuses not to build one.
MABEL (Mobile Anthropomorphic Bimanual Embodiment for Life-like manipulation and learning) is an open-source mobile bimanual robot you can actually afford to build: a holonomic 3-module swerve base, dual 7-DOF arms, two 17-DOF dexterous hands, a lift + torso for floor-to-tabletop reach, and a 3-DOF head — teleoperated from a Vision Pro, an iPhone, a browser, or a gamepad, with a full MuJoCo digital twin and a demonstration-to-deployed-policy learning pipeline.
| The panel | What's in it | |
|---|---|---|
| 🦴 | Build it | Costed bill of materials + the step-by-step build guide, printable CAD, datasheets |
| 🕹️ | Drive it (no hardware needed) | bash server/run.sh → physics + teleop + a browser studio on :8097 |
| 🧠 | Teach it | Record demos → curate → train (ACT / Diffusion / pi0) → deploy, all in-repo |
| 🗺️ | Understand it | Five data paths, two iron rules, 30+ compiled technical reports |
| Repo | What it is |
|---|---|
| MABEL | The whole robot — hardware, firmware, control, simulation, teleop, learning, docs |
| website | The project site — robotmabel.github.io/website |
Everything ships in one monorepo on purpose: the simulator, the real robot, and every teleop client speak the same wire contract, so nothing can drift apart.
🛠️ Built in the open. Runs in sim first. A paper describing the system is under review.