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This page covers app control, leader-arm teleoperation, first-time connectivity, and SSH access.

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Control via App and Leader Arm

MARS (and all Innate robots) are controllable via the Innate app:

Android APK (Latest)

Direct APK download.

iOS TestFlight

Open the iOS beta access page.
Every MARS robot comes with a leader arm attachable to your phone:
The app automatically recognizes your arm. Press the red Arm button to control MARS with the leader arm. For best results, stand behind the robot while teleoperating. iOS users: The leader arm connects via USB-C and is not compatible with iOS devices. Reach out on Discord for access to a free Android phone for leader arm teleoperation.

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Innate Controller App Overview

The app is available for both iOS and Android so you can control your robot and trigger agents from your phone.

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Current versions (April 2026)

ComponentVersion
MARS OS0.4.5
Cloud Agent0.2.1
Innate Controller App1.1.0
Latest app builds:

Android APK (Latest)

Direct APK download.

iOS TestFlight

Open the latest iOS TestFlight build.

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Key features

  • Drive base control and arm control from phone
  • Leader arm teleoperation
  • Map-free navigation, mapping mode, and go-to mode
  • Video recording and export
  • Control the agent running on the robot from the home screen
  • Digital skills UI with input validation and feedback

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Connecting to a Robot (Wi-Fi + BLE)

The app connects to your robot via Wi-Fi. It can also work through your phone hotspot.

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First-time connection flow

This is the same onboarding flow covered in Quick Start.
1

Bluetooth pairing

The app uses BLE to discover the robot and initialize network setup.
2

Wi-Fi configuration

Select the Wi-Fi network the robot should join. If the robot is not yet connected to any Wi-Fi, use screen 2 to pick a network and enter its password.
3

Connect over Wi-Fi

Once your phone and robot are on the same network, the app connects over Wi-Fi.
The robot publishes a .local hostname (for example mars-robot.local) so you can still connect if IP changes.

1. Discover Robot

Bluetooth discovery step

2. Join Network

Wi-Fi selection stepIf the robot is not connected yet, choose a Wi-Fi network here and set the password.

3. Change Robot Wi-Fi

Change Robot Wi-Fi step
Once connected, you can view the current robot IP in Configuration -> WiFi.

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Connecting via SSH

Default credentials:
  • Username: jetson1
  • Password: goodbot

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Via Wi-Fi

If your robot is on the same network as your computer: 
ssh jetson1@<robot-name>.local
Hostname conversion rules:
  • Uppercase letters become lowercase
  • Spaces/special characters become -
  • Duplicate hyphens are collapsed
  • Leading/trailing hyphens are removed
Examples:
Robot nameHostnameSSH command
My Robotmy-robot.localssh jetson1@my-robot.local
MARS_01mars-01.localssh jetson1@mars-01.local
Test Bottest-bot.localssh jetson1@test-bot.local
If unnamed, default hostname is: 
ssh jetson1@mars.local

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Via Ethernet (preferred wired method)

Connect Ethernet between computer and robot, then SSH: 
ssh jetson1@192.168.50.2
Set your computer Ethernet interface to static IPv4:
  • IP: 192.168.50.1
  • Netmask: 255.255.255.0
  • Gateway: empty
  • DNS: empty

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Via USB-C (last resort)

USB-C is not recommended and should only be used when Wi-Fi and Ethernet are unavailable. 
ssh jetson1@192.168.55.1