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arXiv · 2607.19479

ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation

Joshua Citron·Renee Zbizika·Zeyi Liu·Shuran Song
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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: https://modpack-robotics.github.io/

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Joshua Citron, Renee Zbizika, Zeyi Liu, Shuran Song. 2026-07-21. ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation. https://arxiv.org/abs/2607.19479

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