# ModPack: Extensible Teleoperation Interface for Bimanual Mobile Manipulation

arXiv: https://arxiv.org/abs/2607.19479 · HTML: https://mlsanity.com/paper/2607.19479/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 29 of its 36 references that are in the map.
- First posted on arXiv 21 Jul 2026.

## Builds on (most cited first, 29 of 29)

- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators](https://mlsanity.com/paper/2309.13037/) (2023)
- [Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks](https://mlsanity.com/paper/1810.10191/) (2018)
- [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://mlsanity.com/paper/2407.01512/) (2024)
- [A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation](https://mlsanity.com/paper/2507.05331/) (2025)
- [Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning](https://mlsanity.com/paper/2407.03162/) (2024)
- [OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation](https://mlsanity.com/paper/2403.07870/) (2024)
- [EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World](https://mlsanity.com/paper/2604.07607/) (2026)
- [Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control](https://mlsanity.com/paper/2412.07773/) (2024)
- [AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild](https://mlsanity.com/paper/2309.14975/) (2023)
- [Vision in Action: Learning Active Perception from Human Demonstrations](https://mlsanity.com/paper/2506.15666/) (2025)
- [FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning](https://mlsanity.com/paper/2502.17432/) (2025)
- [TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation](https://mlsanity.com/paper/2403.07869/) (2024)
- [TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning](https://mlsanity.com/paper/2412.10447/) (2024)
- [ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations](https://mlsanity.com/paper/2510.01607/) (2025)
- [AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons](https://mlsanity.com/paper/2503.03081/) (2025)
- [HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations](https://mlsanity.com/paper/2603.03243/) (2026)
- [EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations](https://mlsanity.com/paper/2511.00153/) (2025)
- [Gated Memory Policy: In-Context Memorization and Adaptation](https://mlsanity.com/paper/2604.18933/) (2026)
- [NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulation](https://mlsanity.com/paper/2109.13772/) (2021)
- [Bimanual Telemanipulation with Force and Haptic Feedback through an Anthropomorphic Avatar System](https://mlsanity.com/paper/2301.00764/) (2023)
- [PAPRLE (Plug-And-Play Robotic Limb Environment): A Modular Ecosystem for Robotic Limbs](https://mlsanity.com/paper/2507.05555/) (2025)
- [CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System](https://mlsanity.com/paper/2508.00162/) (2025)
- [Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback](https://mlsanity.com/paper/2606.14218/) (2026)
- [Wheeled Humanoid Bilateral Teleoperation with Position-Force Control Modes for Dynamic Loco-Manipulation](https://mlsanity.com/paper/2407.12189/) (2024)
- [SuperSuit: An Isomorphic Bimodal Interface for Scalable Mobile Manipulation](https://mlsanity.com/paper/2603.06280/) (2026)

## Abstract (arXiv)

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/