Hosted Teleop Overview 2

DimOS Hosted Teleop - Overview

Browser-based teleop for DimOS robots over the internet - video, drive, telemetry, minimap, click-to-navigate, and operator→robot audio, all with WebRTC and Cloudflare

Running today on Go2 (single + multicam) and XArm7, hardware-verified. This is the high-level picture; see #2372 for the detailed module internals, channels, threads, and the one-CF-session rationale.

1. High-level pipeline

• Robot dials out - no inbound ports: dimos run teleop-hosted-go2-multicam -o transports.broker.api_key=...
• Robot registers a session with the broker and heartbeats at 1Hz.
• Operator opens the browser app, picks a robot, joins; the broker bridges datachannels + hands out the video track, then drops off the data path.
• Every link is two-way: media + telemetry up, control down.

2. Robot-side bridge = one DimOS Module

• Go2HostedConnection is a subclass of the robot's connection module. Drive, telemetry+map, video mux, and operator audio all live on one module → one process → one CF session.
• The bridge declares ordinary DimOS streams; the blueprint maps each to a broker channel (cmd_unreliable, state_reliable_back, map_unreliable, video/audio tracks). Everything else stays on LCM inside the robot.
• Thin frontend by design: lidar → mappers → costmap all run robot-side; the browser only draws ready-made views (video frames, a colorized map PNG under the 16KB datachannel ceiling).

3. Dashboard

https://github.com/user-attachments/assets/5f2fc6b6-827e-4744-8611-efb227c48449

Additional Info

• Also supporting for VR - XR UI with similar features as web UI
• Along with Clouflare, stack also supports Livekit
• Support for Arms, to teleop with Quest

Start with this overview and the linked issue #2372 to understand the documented Hosted Teleop architecture, including the robot-side bridge and dashboard. Identify where this overview belongs in the repository and define the documentation scope before making changes; done means the hosted teleoperation flow and supported interfaces are accurately documented.