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LocoPilot: A Single-Operator Dual-Arm Teleoperation Data Collection Framework

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Antonio Langella and other researchers propose LocoPilot on arXiv, a single-operator bilateral teleoperation and data collection framework deployed on a 12-DoF Unitree Go2 quadruped robot (equipped with a 6-DoF AgileX Piper L robotic arm, a wrist-mounted RealSense D435, and a head-mounted D405 camera). The framework estimates robotic arm interaction forces without using dedicated force/torque sensors, and feeds them back to the operator through a passivity-constrained haptic channel; a ROS 2 pipeline synchronously records multimodal observations and a unified 11-dimensional action, which is used for both teleoperation and policy deployment. The authors evaluated the interface on multiple loco-manipulation tasks, and validated the complete pipeline from data collection to deployment by fine-tuning MolmoAct2 on grasp-and-place demonstration data and deploying it directly to the real robot (without action retargeting or additional inverse kinematics).