ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation

Abstract: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: this https URL

Robotics (cs.RO); Artificial Intelligence (cs.AI)

arXiv:2607.19479 [cs.RO]

(or arXiv:2607.19479v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.19479 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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