TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation
Shivin Dass, Wensi Ai, Yuqian Jiang, Samik Singh, Jiaheng Hu, Ruohan, Zhang, Peter Stone, Ben Abbatematteo, Roberto Mart\'in-Mart\'in

TL;DR
TeleMoMa is a modular teleoperation system that simplifies data collection for mobile manipulation robots by integrating multiple interfaces, enabling easier demonstration collection for imitation learning in real and simulated environments.
Contribution
The paper introduces TeleMoMa, a versatile, modular teleoperation system that unifies various human interfaces and lowers the barrier for collecting mobile manipulation demonstrations.
Findings
TeleMoMa successfully teleoperates multiple mobile robots in simulation and real-world.
Demonstrations collected with TeleMoMa improve imitation learning policies.
User studies show TeleMoMa is accessible for novice users.
Abstract
A critical bottleneck limiting imitation learning in robotics is the lack of data. This problem is more severe in mobile manipulation, where collecting demonstrations is harder than in stationary manipulation due to the lack of available and easy-to-use teleoperation interfaces. In this work, we demonstrate TeleMoMa, a general and modular interface for whole-body teleoperation of mobile manipulators. TeleMoMa unifies multiple human interfaces including RGB and depth cameras, virtual reality controllers, keyboard, joysticks, etc., and any combination thereof. In its more accessible version, TeleMoMa works using simply vision (e.g., an RGB-D camera), lowering the entry bar for humans to provide mobile manipulation demonstrations. We demonstrate the versatility of TeleMoMa by teleoperating several existing mobile manipulators - PAL Tiago++, Toyota HSR, and Fetch - in simulation and the…
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Taxonomy
TopicsTeleoperation and Haptic Systems · Tactile and Sensory Interactions · Virtual Reality Applications and Impacts
