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
El aprendizaje de políticas de loco-manipulación requiere demostraciones que capturen el movimiento coordinado de la base y el brazo en la implementación del objetivo. Las interfaces libres de robots permiten que las demostraciones se recopilen independientemente del robot objetivo, aumentando la flexibilidad pero sin capturar directamente los comandos específicos de la plataforma, la propriocepción y las observaciones montadas en el cuerpo. La teleoperación en robots permite capturar estas señales directamente, pero requiere una interfaz capaz de comandar el sistema completo simultáneamente.
Machine translation (Meta M2M100); the English original follows.
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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