RoboSpan: Learning Modular Coordination Policies for High-DoF Whole-Body Mobile Manipulation with Teleoperation

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Whole-body mobile manipulation suffers from two fundamental challenges: inherent motion heterogeneity across locomotion, arm, and hand modules, and progressive error accumulation over long-horizon multi-stage tasks. Existing teleoperation platforms also lack integrated dexterous tactile sensing to support coordinated whole-body decision-making. This paper presents RoboSpan, a high-DoF whole-body teleoperation and demonstration platform, and the Hierarchical Modular Framework (HMF) for learning modular coordination policies. HMF functionally decouples the 29-DoF action space into fine hand manipulation, arm pose adjustment, and mobile-base spatial configuration branches, and introduces the Coordinated Modular Embodied Transformer (COMET) with inter-modular cross-attention to enable dynamic information exchange and action coordination. Vision-language model driven hierarchical task decomposition structurally suppresses temporal error propagation, while a full-palm 2D tactile representation encodes distributed contact signals for cross-module tactile empowerment. Experiments on a physical 29-DoF robot demonstrate that the proposed method achieves over 20\% higher task success rate than mainstream baselines across a range of long-horizon whole-body tasks, markedly improving stability and robustness in contact-rich manipulation.

Links and sources

• Official / arXiv page
• PDF from original source

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