{"id":"https://openalex.org/W7134283682","doi":"https://doi.org/10.48550/arxiv.2603.06280","title":"SuperSuit: An Isomorphic Bimodal Interface for Scalable Mobile Manipulation","display_name":"SuperSuit: An Isomorphic Bimodal Interface for Scalable Mobile Manipulation","publication_year":2026,"publication_date":"2026-03-06","ids":{"openalex":"https://openalex.org/W7134283682","doi":"https://doi.org/10.48550/arxiv.2603.06280"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.06280","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5124907362","display_name":"Tongqing Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chen, Tongqing","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128535172","display_name":"Hang Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Hang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124944549","display_name":"Jiasen Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Jiasen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128516885","display_name":"Xiaotao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xiaotao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128519332","display_name":"Zhu Jin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Zhu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128385201","display_name":"Lu Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Lu","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5124907362"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6391000151634216,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6391000151634216,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.06340000033378601,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0617000013589859,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7914999723434448},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5796999931335449},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.527999997138977},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4950000047683716},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.48969998955726624},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.46970000863075256},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4555000066757202},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.3763999938964844},{"id":"https://openalex.org/keywords/data-acquisition","display_name":"Data acquisition","score":0.36739999055862427},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.33320000767707825}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7914999723434448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6215999722480774},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5796999931335449},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.527999997138977},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4950000047683716},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.48969998955726624},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.46970000863075256},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4555000066757202},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.385699987411499},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.3763999938964844},{"id":"https://openalex.org/C163985040","wikidata":"https://www.wikidata.org/wiki/Q1172399","display_name":"Data acquisition","level":2,"score":0.36739999055862427},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.33320000767707825},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.3328999876976013},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3319999873638153},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3239000141620636},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3215999901294708},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.31859999895095825},{"id":"https://openalex.org/C54290928","wikidata":"https://www.wikidata.org/wiki/Q4845080","display_name":"Wearable technology","level":3,"score":0.3174999952316284},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.31279999017715454},{"id":"https://openalex.org/C116409475","wikidata":"https://www.wikidata.org/wiki/Q1385056","display_name":"External Data Representation","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.30059999227523804},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.29010000824928284},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.2842999994754791},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.2743000090122223},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2721000015735626},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27160000801086426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2711000144481659},{"id":"https://openalex.org/C144543869","wikidata":"https://www.wikidata.org/wiki/Q2738570","display_name":"Mobile computing","level":2,"score":0.26510000228881836},{"id":"https://openalex.org/C21080849","wikidata":"https://www.wikidata.org/wiki/Q13611879","display_name":"Data point","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.26350000500679016},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25999999046325684},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.2565000057220459}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.06280","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.06280","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.06280","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.06280","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"High-quality,":[0],"long-horizon":[1,131,186],"demonstrations":[2,157],"are":[3],"essential":[4],"for":[5,12,185],"embodied":[6],"AI,":[7],"yet":[8],"acquiring":[9],"such":[10],"data":[11,49,74,154,168,183],"tightly":[13],"coupled":[14],"wheeled":[15],"mobile":[16,25,132,187],"manipulators":[17,26],"remains":[18],"a":[19,47,61,100,114,145],"fundamental":[20],"bottleneck.":[21],"Unlike":[22],"fixed-base":[23],"systems,":[24],"require":[27],"continuous":[28,88],"coordination":[29],"between":[30],"$SE(2)$":[31],"locomotion":[32],"and":[33,41,57,122,162],"precise":[34],"manipulation,":[35,97],"exposing":[36],"limitations":[37],"in":[38,105,113,140],"existing":[39],"teleoperation":[40,56,146,153],"wearable":[42,103],"interfaces.":[43],"We":[44],"present":[45],"\\textbf{SuperSuit},":[46],"bimodal":[48],"acquisition":[50,184],"framework":[51],"that":[52,174],"supports":[53],"both":[54,106],"robot-in-the-loop":[55],"active":[58,141,156,167],"demonstration":[59,138],"under":[60],"shared":[62],"kinematic":[63,176],"interface.":[64],"Both":[65],"modalities":[66,180],"produce":[67],"structurally":[68],"identical":[69],"joint-space":[70],"trajectories,":[71],"enabling":[72],"direct":[73],"mixing":[75],"without":[76,125],"modifying":[77],"downstream":[78],"policies.":[79],"For":[80,96],"locomotion,":[81],"SuperSuit":[82],"maps":[83],"natural":[84],"human":[85],"stepping":[86],"to":[87,118,144],"planar":[89],"base":[90],"velocities,":[91],"eliminating":[92],"discrete":[93],"command":[94],"switches.":[95],"it":[98],"employs":[99],"strictly":[101],"isomorphic":[102],"arm":[104],"modes,":[107],"while":[108],"policy":[109,149],"training":[110],"is":[111],"formulated":[112],"shift-invariant":[115],"delta-joint":[116],"representation":[117],"mitigate":[119],"calibration":[120],"offsets":[121],"structural":[123],"compliance":[124],"inverse":[126],"kinematics.":[127],"Real-world":[128],"experiments":[129],"on":[130],"manipulation":[133],"tasks":[134],"show":[135],"2.6$\\times$":[136],"higher":[137],"throughput":[139],"mode":[142],"compared":[143],"baseline,":[147],"comparable":[148],"performance":[150,164],"when":[151],"substituting":[152],"with":[155],"at":[158],"fixed":[159],"dataset":[160],"size,":[161],"monotonic":[163],"improvement":[165],"as":[166],"volume":[169],"increases.":[170],"These":[171],"results":[172],"indicate":[173],"consistent":[175],"representations":[177],"across":[178],"collection":[179],"enable":[181],"scalable":[182],"manipulation.":[188]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-10T00:00:00"}