> ## Documentation Index
> Fetch the complete documentation index at: https://innateinc-theo-docs-skills-authoring-api.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# 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.

<CardGroup cols={2}>
  <Card title="Android APK (1.3.0)" icon="android" href="https://cdn.innate.bot/innate-app-latest-1.3.0.apk">
    Direct APK download.
  </Card>

  <Card title="iOS TestFlight" icon="apple" href="https://testflight.apple.com/join/YeChe4A7">
    Join the iOS beta on TestFlight.
  </Card>
</CardGroup>

<Note>
  Both apps are still in beta. Reach out on [Discord](https://discord.com/invite/KtkyT97kc7) to get access.
</Note>

## What you can do with it

* **Drive and control** — joystick base driving with [Slow/Med/Fast/Mad speed modes](/robots/mars/control-and-connectivity#drive-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](/training/overview) end to end
* **Navigation** — map-free navigation, mapping mode, and go-to mode with trajectory visualization
* **Agents and skills** — start and stop [agents](/software/agents/starting-an-agent) from the home screen, and [trigger skills directly](/software/skills/manual-triggering) 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.

<Warning>
  **Using an iPhone?** The leader arm connects over USB-C and doesn't work with iOS devices yet. Ping us on [Discord](https://discord.com/invite/KtkyT97kc7) and we'll get you a free Android phone for leader arm teleoperation.
</Warning>

It's the phone counterpart to the [web app](/robots/web-app), which is better on a laptop for data collection, training, and debugging on a larger screen.

## 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.

<Frame caption="Press on the robot when it appears to connect via bluetooth">
  <img src="https://mintcdn.com/innateinc-theo-docs-skills-authoring-api/9WIspYq4LkbGVthE/images/main/robots/innate-controller-app/connect-step-1.png?fit=max&auto=format&n=9WIspYq4LkbGVthE&q=85&s=719e215fc3ce8dc80b4bc8b837086a20" width="375" data-path="images/main/robots/innate-controller-app/connect-step-1.png" />
</Frame>

<Frame caption="If it's already on the same network than your phone, you can connect">
  <img src="https://mintcdn.com/innateinc-theo-docs-skills-authoring-api/9WIspYq4LkbGVthE/images/main/robots/innate-controller-app/connect-step-2.png?fit=max&auto=format&n=9WIspYq4LkbGVthE&q=85&s=0509cc4f8452bfccdd3a9e0fb8b6b761" width="960" height="2142" data-path="images/main/robots/innate-controller-app/connect-step-2.png" />
</Frame>

<Frame caption="Otherwise, select &#x22;Change Robot WiFi&#x22; to pick another network to connect it to">
  <img src="https://mintcdn.com/innateinc-theo-docs-skills-authoring-api/9WIspYq4LkbGVthE/images/main/robots/innate-controller-app/connect-step-3.png?fit=max&auto=format&n=9WIspYq4LkbGVthE&q=85&s=3b323bdb2ffa7613d68aa30eddf7cfa0" width="375" data-path="images/main/robots/innate-controller-app/connect-step-3.png" />
</Frame>

Once connected, **Configuration → WiFi** shows the robot's current IP on the network — which you'll need for [SSH](/robots/mars/connecting-via-ssh) and the [web app](/robots/web-app).

## Current versions

As of **August 2026**:

<div className="version-badges">
  <span className="version-badge"><span className="version-badge-name">MARS OS</span><span className="version-badge-value">0.7.0</span></span>
  <span className="version-badge"><span className="version-badge-name">Controller App</span><span className="version-badge-value">1.3.0</span></span>
</div>