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

RESUMO

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.