ModPack: Extensible Teleoperation Interface for Bimanual Mobile Manipulation

This paper presents ModPack, a modular and extensible teleoperation system designed for bimanual mobile manipulation. The system includes a self-contained wearable 'backpack' with onboard computation, power, communication, and data storage. It supports plug-and-play modules for joint-level teleoperation, mobile manipulation, and active perception. Experiments on two robot platforms show that ModPack provides a flexible framework for data collection and policy learning, with higher quality data than a robot-free alternative. The hardware and software are open-sourced to support future research.