ModPack: Extensible Teleoperation Interface for Bimanual Mobile Manipulation
Overview
ModPack is a modular teleoperation system for bimanual mobile manipulation, supporting plug-and-play modules and open-source software. Experiments show it collects higher-quality data than robot-free alternatives, enabling flexible data collection and policy learning across platforms.
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- arXiv Robotics — research abstractsModPack: 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.
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