发表机构
Stanford University（斯坦福大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对现有遥操作系统扩展性和适应性不足的问题，提出ModPack可扩展遥操作系统，以统一框架支持多样机器人形式和任务，通过背包集成多种功能，经实验验证其灵活性和可复用性，并开源软硬件设计。
AI 中文摘要
现有的遥操作系统通常针对特定机器人硬件和任务领域定制，限制了其可扩展性和适应性。我们提出了ModPack，一个模块化且可扩展的遥操作系统，旨在在统一框架内支持多样的机器人形式和任务要求。ModPack核心是一个集成板载计算、电源、通信和数据存储的独立可穿戴“背包”。基于此共享接口，系统支持即插即用功能模块，包括带触觉反馈的关节级遥操作、移动操作和主动感知。在两个不同机器人平台和现实世界移动操作任务上的实验表明，ModPack为数据收集和策略学习提供了灵活且可复用的框架。为支持未来研究，我们开源了完整硬件设计和软件堆栈。
英文摘要
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 and collects higher quality data than a robot-free alternative. To support future research, we open-source the complete hardware design and software stack. Project website: https://modpack-robotics.github.io/
