M3-Tele: A Unified Multimodal Teleoperational Framework for Compliant Whole-Body Mobile Manipulation

2026-09-07

AI Summary

本文提出M3-Tele框架，通过整合多模态感知与全身协调操作解决接触丰富任务执行效率问题，实验显示其显著提高操作性能。

Abstract

Executing contact-rich tasks efficiently requires the seamless integration of whole-body coordination and physical compliance regulation. However, existing teleoperation and data-collection frameworks often overlook the joint consideration of multimodal perception and coordinated whole-body operation. This limitation can reduce the efficiency and quality of demonstration collection, thereby affecting the effectiveness of downstream policy learning. In this work, we present \textbf{M3-Tele}: A Unified \underline{M}ultimodal \underline{Tele}operational Framework for Compliant Whole-Body \underline{M}obile \underline{M}anipulation, enabling stable physical interaction and capturing aligned visual, tactile, force, and proprioceptive observations during task execution. Extensive experiments demonstrate that the proposed framework significantly improves contact-rich teleoperation performance. The proposed controller reduces the force tracking error from 4.132~N to 0.346~N, the contact loss from 2.46 to 0.02 events per trial and the tactile deformation error by 65\%. User studies across four mobile manipulation tasks also verify the reliability and usability of the proposed system. Furthermore, Diffusion Policy experiments highlight the value of joint tactile and force sensing.

Problem

• teleoperation
• multimodal perception
• whole-body coordination
• demonstration collection
• policy learning

Innovation

• multimodal perception
• whole-body coordination
• compliant manipulation
• teleoperation
• force tracking