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
学习机器人操纵政策需要演示,在目标实现模式上捕捉协调的基和手臂运动。无机器人接口允许独立于目标机器人收集演示,增加灵活性,但不直接捕捉平台特定的命令, proprioception 和身体安装的观察。在机器人远程操作允许直接捕捉这些信号,但需要一个能够同时指挥整个系统的接口。
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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