TANDEM documentation
TANDEM is a system that combines task and motion planning with selective human teleoperation to collect demonstrations for tasks beyond a planner’s capabilities.
Quick start
On the robot workstation:
pipx install git+https://github.com/SamratSahoo/TANDEM.git
tandem init # builds the planner and perception servers, asks for the robot and cameras
tandem doctor # every check, with what to do about it
tandem collect # collect trials of the active task
Installation covers what the workstation and robot need first.
Documentation
What you need, installing TANDEM and running tandem init on the robot workstation.
DROID's server and TiPToP's shim on the NUC, step by step.
Getting startedM2T2 and FoundationStereo, built by tandem init and started by each session.
Camera serials, and the extrinsics each camera needs before collecting.
Getting startedThe VR teleop driver's environment, which TANDEM builds for you.
Getting startedChoose a task, check the plan, collect, review and export.
User guideThe keys at each step, human phases, hand-offs and labels.
User guideProfiles, phase planning, the rig, TiPToP's options and TANDEM's own settings.
ReferenceEvery tandem command and flag.
What a trial leaves on disk: videos, robot state, the phase record and logs.
ReferenceCommon problems, each with the fix first.
Extending TANDEMBring your own task and motion planner, in process or as a sidecar.
Citation
@misc{sahoo2026tandem,
title = {{TANDEM}: Task and Motion Planning with As-Needed Demonstrations for Efficient
Vision-Language-Action Model Fine-tuning},
author = {Sahoo, Samrat and Ji, Liang and Silver, Tom and Huang, Yixuan},
year = {2026}
}