{"ID":2875501,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.02437","arxiv_id":"2509.02437","title":"U-ARM : Ultra low-cost general teleoperation interface for robot manipulation","abstract":"We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct 3D-printed leader arms that share consistent control logic, enabling seamless compatibility with diverse commercial robot configurations. Compared with previous open-source leader-follower interfaces, we further optimized both the mechanical design and servo selection, achieving a bill of materials (BOM) cost of only \\$50.5 for the 6-DoF leader arm and \\$56.8 for the 7-DoF version. To enhance usability, we mitigate the common challenge in controlling redundant degrees of freedom by %engineering methods mechanical and control optimizations. Experimental results demonstrate that U-Arm achieves 39\\% higher data collection efficiency and comparable task success rates across multiple manipulation scenarios compared with Joycon, another low-cost teleoperation interface. We have open-sourced all CAD models of three configs and also provided simulation support for validating teleoperation workflows. We also open-sourced real-world manipulation data collected with U-Arm. The project website is https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm.","short_abstract":"We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct 3D-printed leader arms that share consistent control logic, enabling seamless compatibi...","url_abs":"https://arxiv.org/abs/2509.02437","url_pdf":"https://arxiv.org/pdf/2509.02437v5","authors":"[\"Yanwen Zou\",\"Zhaoye Zhou\",\"Chenyang Shi\",\"Zewei Ye\",\"Junda Huang\",\"Yan Ding\",\"Bo Zhao\"]","published":"2025-09-02T15:39:38Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false,"code_links":[{"ID":610217,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2875501,"paper_url":"https://arxiv.org/abs/2509.02437","paper_title":"U-ARM : Ultra low-cost general teleoperation interface for robot manipulation","repo_url":"https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}