📝 SummarXiv

Abstract

Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular, general-purpose framework that unifies data collection and policy deployment across diverse platforms. The system reduces fragmentation through a standardized workflow with modular design, unified APIs, and a closed-loop architecture. It supports flexible robot registration, dual-mode control with teleoperation and trajectory playback, and seamless integration from multimodal data acquisition to inference. Experiments on single-arm and dual-arm systems show efficient, low-latency data collection and effective support for policy learning with imitation learning and vision-language-action models. Policies trained on data gathered by Control Your Robot match expert demonstrations closely, indicating that the framework enables scalable and reproducible robot learning across platforms.