LocoPilot: Single-Operator Bilateral Teleoperation for Loco-Manipulation Policy Learning

Antonio Langella, Giovanni Minelli, Giovanni B. Dessy, Lorenzo Amatucci, Giulio Turrisi, Victor Barasuol, Claudio Semini · 2026 · arXiv

DOI: 10.48550/arXiv.2610.27998 · open-access PDF

Abstract

Learning loco-manipulation policies requires demonstrations that capture coordinated base and arm motion on the target embodiment. Robot-free interfaces allow demonstrations to be collected independently of the target robot, increasing flexibility but without directly capturing platform-specific commands, proprioception, and body-mounted observations. On-robot teleoperation allows to capture these signals directly, but requires an interface capable of commanding the complete system concurrently. This paper presents LocoPilot, a single-operator bilateral teleoperation and data-collection framew

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