Overview

The Innate Controller App is your phone-side cockpit for MARS: drive the robot, teleoperate the arm, run agents and skills, record training data, and manage maps — all from Android or iOS.

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What you can do with it

• Drive and control — joystick base driving with Slow/Med/Fast/Mad speed modes, plus head and arm control
• Leader arm teleoperation — attach the leader arm to your phone over USB-C for direct arm control
• Train manipulation skills — record episodes, launch cloud training runs, and deploy trained skills end to end
• Navigation — map-free navigation, mapping mode, and go-to mode with trajectory visualization
• Agents and skills — start and stop agents from the home screen, and trigger skills directly with input validation and live feedback
• Recording — capture robot sessions with native iOS/Android video, then share or export with metadata

The app also handles the housekeeping: low-battery alerts, arm-restart notifications, and OS version compatibility checks with guided update instructions. It’s the phone counterpart to the web app, which is better on a laptop for data collection, training, and debugging on a larger screen.

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Connecting to a robot

The app connects to your robot over Wi-Fi — including your phone’s hotspot. The first time, it walks you through an onboarding flow:

1. Bluetooth pairing — the app discovers your robot over Bluetooth Low Energy (BLE) to configure its network settings
2. Wi-Fi configuration — tell the robot which network to join
3. Connection — once you’re both on the same network, the app connects over Wi-Fi

The robot publishes its hostname with a .local suffix (e.g. mars-robot.local), so the connection survives an IP address change. Once connected, Configuration → WiFi shows the robot’s current IP on the network — which you’ll need for SSH and the web app.

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Current versions

As of August 2026: