ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation
ModPack presents a modular, extensible teleoperation system centered on a wearable backpack that integrates computation, power, communication, and storage. It supports plug-and-play modules for joint-level teleoperation with haptic feedback, mobile manipulation, and active perception. Tests on two robot platforms confirm its flexibility and reusability for data collection and policy learning. The complete hardware and software stack is open-sourced.
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[Submitted on 21 Jul 2026]
Title:ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation
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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
Subjects:
Robotics (cs.RO); Artificial Intelligence (cs.AI)
Cite as: arXiv:2607.19479 [cs.RO]
(or arXiv:2607.19479v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.19479
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Zeyi Liu [view email] [v1] Tue, 21 Jul 2026 18:02:20 UTC (15,658 KB)
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