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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.

Android APK (1.3.0)

Direct APK download.

iOS TestFlight

Join the iOS beta on TestFlight.
Both apps are still in beta. Reach out on Discord to get access.

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Current versions

As of June 2026:
MARS OS0.6.0Cloud Agent0.2.1Controller App1.3.0

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Key features

  • Robot Control — Drive the robot and control the arm using your phone
  • Leader Arm Teleoperation — Attach the leader arm to your phone for intuitive arm control
  • Dataset Recording & Policy Training — Record demonstration episodes, launch cloud training runs, and deploy trained skills directly from the app
  • Navigation — Map-free navigation, mapping mode, and go-to mode with trajectory visualization
  • Video Recording — Record robot sessions with native iOS/Android capture
  • Recording Export — Share recordings directly or export with metadata
  • Agent Management — Start and stop agents from the home screen
  • Skills UI — Execute skills with input validation and real-time feedback
  • Action Cancellation — Stop navigation with the dedicated stop button
  • Low Battery Warnings — Visual alerts when the robot needs charging
  • Version Compatibility — Automatic checks with guided update instructions
  • Arm Restart Notifications — Quick recovery from arm issues via push notifications
Using an iPhone? The leader arm connects over USB-C and doesn’t work with iOS devices yet. Ping us on Discord and we’ll get you a free Android phone for leader arm teleoperation.

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Next step

Connecting to a robot

Pair over Bluetooth, put the robot on your Wi-Fi, and connect.