统一多平台机器人控制，实现数据采集与策略部署无缝衔接。
Control Your Robot: A Unified System for Robot Control and Policy Deployment
- 模块化设计+统一API，跨平台兼容性强。
- 支持遥操作与轨迹回放双模式，低延迟采集数据。
- 适合机器人研发者快速部署学习策略，提升开发效率。
跨平台机器人控制因硬件接口、数据格式和控制范式差异大而困难，导致工具链碎片化，部署缓慢。为此，我们提出Control Your Robot，一个模块化、通用的框架，统一多样平台的数据采集与策略部署。系统通过标准化流程、模块化设计、统一API和闭环架构减少碎片化，支持灵活机器人注册、遥操作与轨迹回放双模式控制，实现从多模态数据采集到推理的无缝集成。在单臂和双臂系统上的实验表明，该系统可高效、低延迟地完成数据采集，并有效支持模仿学习及视觉-语言-动作模型的策略学习。在该框架上训练的策略能紧密匹配专家演示，证明其具备跨平台可扩展、可复现的机器人学习能力。
原文摘要 · Abstract (English)
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular, general-purpose framework that unifies data collection and policy deployment across diverse platforms. The system reduces fragmentation through a standardized workflow with modular design, unified APIs, and a closed-loop architecture. It supports flexible robot registration, dual-mode control with teleoperation and trajectory playback, and seamless integration from multimodal data acquisition to inference. Experiments on single-arm and dual-arm systems show efficient, low-latency data collection and effective support for policy learning with imitation learning and vision-language-action models. Policies trained on data gathered by Control Your Robot match expert demonstrations closely, indicating that the framework enables scalable and reproducible robot learning across platforms.
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