{"id":"https://openalex.org/W7161881645","doi":"https://doi.org/10.48550/arxiv.2605.19138","title":"COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphones","display_name":"COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphones","publication_year":2026,"publication_date":"2026-05-18","ids":{"openalex":"https://openalex.org/W7161881645","doi":"https://doi.org/10.48550/arxiv.2605.19138"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.19138","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19138","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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.19138","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005579803","display_name":"Ayush Agarwal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Agarwal, Ayush","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037079311","display_name":"Ansh Gandhi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gandhi, Ansh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008849122","display_name":"Jeremy A. Collins","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Collins, Jeremy A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136609149","display_name":"Omar Rayyan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rayyan, Omar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136560883","display_name":"Aryan Sarswat","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sarswat, Aryan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133459668","display_name":"Ranjani Koushik","orcid":"https://orcid.org/0000-0002-3776-9556"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koushik, Ranjani","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075732858","display_name":"Masoud Moghani","orcid":"https://orcid.org/0000-0002-7569-8592"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Moghani, Masoud","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026180478","display_name":"Ajay Mandlekar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mandlekar, Ajay","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136531360","display_name":"Animesh Garg","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Garg, Animesh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.4819999933242798,"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":0.4819999933242798,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.11550000309944153,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10709","display_name":"Social Robot Interaction and HRI","score":0.11249999701976776,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8483999967575073},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.5318999886512756},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4133000075817108},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.3846000134944916},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.37119999527931213},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.33629998564720154},{"id":"https://openalex.org/keywords/personalization","display_name":"Personalization","score":0.29820001125335693}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8483999967575073},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6765999794006348},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5318999886512756},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44339999556541443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4133000075817108},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.3846000134944916},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.375900000333786},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.37119999527931213},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.33629998564720154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30090001225471497},{"id":"https://openalex.org/C183003079","wikidata":"https://www.wikidata.org/wiki/Q1000371","display_name":"Personalization","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2865000069141388},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.2800000011920929},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.271699994802475},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C115537543","wikidata":"https://www.wikidata.org/wiki/Q165596","display_name":"Cache","level":2,"score":0.2549000084400177},{"id":"https://openalex.org/C2779333187","wikidata":"https://www.wikidata.org/wiki/Q3132648","display_name":"Quality of experience","level":3,"score":0.2547999918460846},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.19138","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19138","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.19138","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19138","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6571989059448242,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"scarcity":[1],"of":[2,101,176,209],"large-scale,":[3,211],"high-quality":[4,212],"demonstration":[5],"data":[6,88,166,170,195],"remains":[7],"a":[8,20,53,57,146,174,188,210],"bottleneck":[9],"in":[10,31,34,60],"scaling":[11],"imitation":[12,237],"learning":[13,27,238],"for":[14,112,243],"robotic":[15],"manipulation.":[16],"We":[17,120,144,184,229],"present":[18],"COBALT,":[19],"teleoperation":[21,48,61,153],"platform":[22],"designed":[23],"to":[24,114,136,156,179],"democratize":[25],"robot":[26],"at":[28,104],"scale":[29,137],"both":[30],"simulation":[32],"and":[33,84,90,96,140],"the":[35,133,207,231],"real":[36],"world.":[37],"By":[38],"leveraging":[39],"vectorized":[40],"environments,":[41],"our":[42,202],"scalable,":[43],"load-balanced":[44],"infrastructure":[45],"supports":[46],"concurrent":[47,102,116],"by":[49,199,234],"multiple":[50],"users":[51,103,117],"on":[52,69],"single":[54,76],"GPU,":[55],"yielding":[56],"significant":[58],"reduction":[59],"cost.":[62],"Operators":[63],"can":[64],"connect":[65],"from":[66,201],"nearly":[67],"anywhere":[68],"Earth":[70],"using":[71],"commonly":[72],"available":[73],"devices,":[74],"including":[75],"or":[77,157],"dual":[78],"smartphones,":[79],"VR":[80],"headsets,":[81],"3D":[82],"mice,":[83],"keyboards.":[85],"An":[86],"inmemory":[87],"cache":[89],"efficient":[91],"video":[92],"streaming":[93],"keep":[94],"control":[95],"rendering":[97],"synchronous,":[98],"sustaining":[99],"dozens":[100],"20":[105],"Hz":[106],"with":[107,215,221],"sub-100":[108],"ms":[109],"end-to-end":[110],"latency":[111],"up":[113],"8":[115,130],"per":[118],"GPU.":[119],"also":[121],"demonstrate":[122,186],"stable":[123],"operation":[124],"supporting":[125],"256":[126],"simulated":[127],"clients":[128],"across":[129,138,223],"GPUs,":[131],"underscoring":[132],"system's":[134],"ability":[135],"hardware":[139],"within":[141],"individual":[142],"servers.":[143],"perform":[145],"comprehensive":[147],"user":[148,190,203],"study":[149],"showing":[150],"that":[151,187],"phone-based":[152],"performs":[154],"comparably":[155],"better":[158],"than":[159],"specialized":[160],"hardware,":[161],"enabling":[162],"faster,":[163],"more":[164,244],"ergonomic":[165],"collection.":[167],"To":[168],"ensure":[169],"quality,":[171],"COBALT":[172],"logs":[173],"suite":[175],"real-time":[177],"metrics":[178],"automatically":[180],"filter":[181],"suboptimal":[182],"demonstrations.":[183],"further":[185],"structured":[189],"training":[191,235],"curriculum":[192],"significantly":[193],"improves":[194],"collection":[196,208],"quality.":[197],"Guided":[198],"insights":[200],"study,":[204],"we":[205],"crowdsource":[206],"pilot":[213],"dataset":[214],"7500+":[216],"demonstrations":[217],"(50+":[218],"hours)":[219],"collected":[220],"smartphones":[222],"nine":[224],"countries":[225],"over":[226],"five":[227],"days.":[228],"validate":[230],"dataset's":[232],"quality":[233],"state-of-the-art":[236],"algorithms.":[239],"Please":[240],"visit":[241],"https://cobalt-teleop.github.io/":[242],"details.":[245]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-21T00:00:00"}
