RAPID: Reconfigurable, Adaptive Platform for Iterative Design

• URL: http://arxiv.org/abs/2602.06653v1
• Date: Fri, 06 Feb 2026 12:28:46 GMT
• Title: RAPID: Reconfigurable, Adaptive Platform for Iterative Design
• Authors: Zi Yin, Fanhong Li, Shurui Zheng, Jia Liu,
• Abstract summary: RAPID is a tool-free, modular hardware architecture that unifies handheld data collection and robot deployment.<n>Physical Mask exposes modality presence as an explicit runtime signal.<n>System-centric experiments show that RAPID reduces the setup time for multi-modal configurations by two orders of magnitude.
• Score: 3.8103821995386356
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes often require mechanical refitting and system re-integration, slowing iteration. We present RAPID, a full-stack reconfigurable platform designed to reduce this friction. RAPID is built around a tool-free, modular hardware architecture that unifies handheld data collection and robot deployment, and a matching software stack that maintains real-time awareness of the underlying hardware configuration through a driver-level Physical Mask derived from USB events. This modular hardware architecture reduces reconfiguration to seconds and makes systematic multi-modal ablation studies practical, allowing researchers to sweep diverse gripper and sensing configurations without repeated system bring-up. The Physical Mask exposes modality presence as an explicit runtime signal, enabling auto-configuration and graceful degradation under sensor hot-plug events, so policies can continue executing when sensors are physically added or removed. System-centric experiments show that RAPID reduces the setup time for multi-modal configurations by two orders of magnitude compared to traditional workflows and preserves policy execution under runtime sensor hot-unplug events. The hardware designs, drivers, and software stack are open-sourced at https://rapid-kit.github.io/ .

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