ModPack让双臂移动机器人远程操作更灵活可扩展
ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation
- 用可穿戴背包统一集成计算与通信，支持模块化功能插拔
- 在两种机器人平台上完成真实场景任务，验证框架复用性
- 适合想快速搭建多机器人遥操作系统的研究者
现有遥操作系统通常针对特定机器人硬件和任务领域定制，限制了其可扩展性和适应性。本文提出 ModPack，一个模块化且可扩展的遥操作系统，旨在统一支持多种机器人形态和任务需求。系统核心是一个集成本地计算、供电、通信和数据存储的自包含可穿戴「背包」。在此共享接口基础上，系统支持即插即用的功能模块，包括关节级遥操作（带触觉反馈）、移动操作和主动感知。在两个不同机器人平台及真实世界移动操作任务上的实验表明，ModPack 提供了一个灵活且可复用的数据采集与策略学习框架。为支持未来研究，我们开源了完整的硬件设计与软件栈。项目网站：https://modpack-robotics.github.io/
原文摘要 · Abstract (English)
Existing teleoperation systems are often tailored to specific robot hardware and task domains, limiting their scalability and adaptability. We present ModPack, a modular and extensible teleoperation system designed to support diverse robot embodiments and task requirements within a unified framework. At the core of ModPack is a self-contained wearable "backpack" that integrates onboard computation, power, communication, and data storage. Built on top of this shared interface, the system supports plug-and-play capability modules including joint-level teleoperation with haptic feedback, mobile manipulation, and active perception. Experiments across two distinct robot platforms and real-world mobile manipulation tasks demonstrate that ModPack provides a flexible and reusable framework for data collection and policy learning. To support future research, we open-source the complete hardware design and software stack. Project website: https://modpack-robotics.github.io/
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。