teleoperation and data collection for legged manipulationIntermediate
LocoPilot: Single-Operator Bilateral Teleoperation for Loco-Manipulation Policy Learning
A single operator can now drive both the legs and the arm of a Unitree Go2 quadruped fitted with an AgileX Piper arm while feeling contact forces estimated without a force sensor, with a noise floor of 1.27 N, according to a preprint from Italy's IIT. The 289 demonstrations it recorded fine-tuned the 5.5-billion-parameter MolmoAct2 model, which then ran the robot through the same 11-number command interface the operator used.