From a6f5d42a0c00c24d5cd295a2d3be5c0545a410dc Mon Sep 17 00:00:00 2001
From: zzzyishi <1026598796@qq.com>
Date: Mon, 22 Jun 2026 18:09:47 +0800
Subject: [PATCH 1/5] feat: add gamepad control

---
 .../run_pi05_libero_sac_separated.sh          |   2 +-
 src/verl_vla/env_loop/env_loop.py             |   4 +-
 src/verl_vla/teleop/config.py                 |  27 +++
 src/verl_vla/teleop/devices/__init__.py       |   3 +
 src/verl_vla/teleop/devices/gamepad.py        | 118 +++++++++++
 .../teleop/obs_server/html/gamepad_device.js  | 189 ++++++++++++++++++
 .../teleop/obs_server/html/index.html         |   5 +
 src/verl_vla/teleop/obs_server/server.py      |   2 +
 .../teleop/strategies/gamepad_libero.py       | 168 ++++++++++++++++
 src/verl_vla/teleop/strategies/registry.py    |   2 +
 src/verl_vla/teleop/teleop_controller.py      |   6 +
 .../trainer/config/env/rob_sac_env.yaml       |  17 ++
 12 files changed, 541 insertions(+), 2 deletions(-)
 create mode 100644 src/verl_vla/teleop/devices/gamepad.py
 create mode 100644 src/verl_vla/teleop/obs_server/html/gamepad_device.js
 create mode 100644 src/verl_vla/teleop/strategies/gamepad_libero.py

diff --git a/examples/libero_sac/run_pi05_libero_sac_separated.sh b/examples/libero_sac/run_pi05_libero_sac_separated.sh
index 2ae28b6..0ebd81f 100644
--- a/examples/libero_sac/run_pi05_libero_sac_separated.sh
+++ b/examples/libero_sac/run_pi05_libero_sac_separated.sh
@@ -94,7 +94,7 @@ $PYTHON -m verl_vla.trainer.main_sac \
     env.actor.model.action_dim=7 \
     env.train.device=$ENV_DEVICE \
     env.train.max_episode_steps=$MAX_EPISODE_STEPS \
-    +env.train.async_reset=$ASYNC_RESET \
+    env.train.async_reset=$ASYNC_RESET \
     $MAX_INTERACTIONS_CONFIG \
     +env.train.pipeline_stage_num=$NUM_STAGE \
     env.train.video_cfg.save_video=True \
diff --git a/src/verl_vla/env_loop/env_loop.py b/src/verl_vla/env_loop/env_loop.py
index 37b291c..28d3fb0 100644
--- a/src/verl_vla/env_loop/env_loop.py
+++ b/src/verl_vla/env_loop/env_loop.py
@@ -54,7 +54,9 @@ def __init__(self, env_wg: RayWorkerGroup, rollout_wg: RayWorkerGroup, config: D
         self.envs_per_stage = self.total_envs // self.stage_num
 
         self.default_max_interactions = config.env.train.max_episode_steps // config.env.actor.model.num_action_chunks
-        self.configured_max_interactions = config.env.train.get("max_interactions", self.default_max_interactions)
+        self.configured_max_interactions = config.env.train.get("max_interactions")
+        if self.configured_max_interactions is None:
+            self.configured_max_interactions = self.default_max_interactions
         self.max_interactions = self.configured_max_interactions
         self.warmup_max_interactions = False
 
diff --git a/src/verl_vla/teleop/config.py b/src/verl_vla/teleop/config.py
index 2dc2f45..c910fa8 100644
--- a/src/verl_vla/teleop/config.py
+++ b/src/verl_vla/teleop/config.py
@@ -47,6 +47,24 @@ class XRControllerTeleopConfig:
     max_events: int = 256
 
 
+@dataclass(frozen=True)
+class GamepadTeleopConfig:
+    pos_sensitivity: float = 0.5
+    rot_sensitivity: float = 1.0
+    intervention_button: str = "RT"
+    gripper_button: str = "X"
+    button_threshold: float = 0.5
+    max_events: int = 256
+    left_stick_x_axis: str = "axis_0"
+    left_stick_y_axis: str = "axis_1"
+    right_stick_y_axis: str = "axis_3"
+    right_stick_x_axis: str = "axis_2"
+    dpad_up_button: str = "DUp"
+    dpad_down_button: str = "DDown"
+    dpad_left_button: str = "DLeft"
+    dpad_right_button: str = "DRight"
+
+
 @dataclass(frozen=True)
 class TeleopConfig:
     enable: bool = False
@@ -55,6 +73,7 @@ class TeleopConfig:
     server: TeleopServerConfig = field(default_factory=TeleopServerConfig)
     keyboard: KeyboardTeleopConfig = field(default_factory=KeyboardTeleopConfig)
     xr_controller: XRControllerTeleopConfig = field(default_factory=XRControllerTeleopConfig)
+    gamepad: GamepadTeleopConfig = field(default_factory=GamepadTeleopConfig)
 
 
 def load_teleop_config(cfg: DictConfig | Any, device: str | None = None) -> TeleopConfig:
@@ -96,6 +115,13 @@ def load_teleop_config(cfg: DictConfig | Any, device: str | None = None) -> Tele
     xr_controller_cfg = XRControllerTeleopConfig(
         **{key: xr_controller_raw[key] for key in XRControllerTeleopConfig.__annotations__ if key in xr_controller_raw}
     )
+    gamepad_raw = raw.get("gamepad", {})
+    if isinstance(gamepad_raw, DictConfig):
+        gamepad_raw = OmegaConf.to_container(gamepad_raw, resolve=True)
+    gamepad_raw = dict(gamepad_raw or {})
+    gamepad_cfg = GamepadTeleopConfig(
+        **{key: gamepad_raw[key] for key in GamepadTeleopConfig.__annotations__ if key in gamepad_raw}
+    )
     devices = raw.get("devices")
     if devices is None:
         devices = [raw.get("device", TeleopConfig.device)]
@@ -114,4 +140,5 @@ def load_teleop_config(cfg: DictConfig | Any, device: str | None = None) -> Tele
         server=server_cfg,
         keyboard=keyboard_cfg,
         xr_controller=xr_controller_cfg,
+        gamepad=gamepad_cfg,
     )
diff --git a/src/verl_vla/teleop/devices/__init__.py b/src/verl_vla/teleop/devices/__init__.py
index 123e48f..2d23ad8 100644
--- a/src/verl_vla/teleop/devices/__init__.py
+++ b/src/verl_vla/teleop/devices/__init__.py
@@ -13,12 +13,15 @@
 # limitations under the License.
 
 from verl_vla.teleop.devices.device_base import DeviceBase, DeviceEvent
+from verl_vla.teleop.devices.gamepad import GamepadDevice, GamepadDeviceCfg
 from verl_vla.teleop.devices.keyboard import KeyboardDevice, KeyboardDeviceCfg
 from verl_vla.teleop.devices.xr_controller import XRControllerDevice, XRControllerDeviceCfg
 
 __all__ = [
     "DeviceBase",
     "DeviceEvent",
+    "GamepadDevice",
+    "GamepadDeviceCfg",
     "KeyboardDevice",
     "KeyboardDeviceCfg",
     "XRControllerDevice",
diff --git a/src/verl_vla/teleop/devices/gamepad.py b/src/verl_vla/teleop/devices/gamepad.py
new file mode 100644
index 0000000..ef63aa3
--- /dev/null
+++ b/src/verl_vla/teleop/devices/gamepad.py
@@ -0,0 +1,118 @@
+# Copyright 2026 Bytedance Ltd. and/or its affiliates
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass
+from typing import Any
+
+from typing_extensions import override
+
+from verl_vla.teleop.devices.device_base import DeviceBase, DeviceEvent
+
+
+@dataclass(frozen=True)
+class GamepadDeviceCfg:
+    max_events: int = 256
+
+
+class GamepadDevice(DeviceBase):
+    name = "gamepad"
+
+    def __init__(self, cfg: GamepadDeviceCfg | None = None):
+        self.cfg = cfg or GamepadDeviceCfg()
+        super().__init__(max_events=self.cfg.max_events)
+        self._latest_state: dict[str, Any] = {}
+        self._button_states: dict[str, bool] = {}
+        self._axis_values: dict[str, float] = {}
+        self._connected = False
+        self._device_id = ""
+
+    @override
+    def reset(self) -> None:
+        with self._lock:
+            self._latest_state.clear()
+            self._button_states.clear()
+            self._axis_values.clear()
+            self._events.clear()
+            self._connected = False
+            self._device_id = ""
+
+    @override
+    def handle_event(self, event: DeviceEvent) -> None:
+        with self._lock:
+            event_type = event.event_type.lower()
+            if event_type == "gamepad_update":
+                self._latest_state = dict(event.raw)
+                buttons_raw = event.raw.get("buttons", {})
+                axes_raw = event.raw.get("axes", {})
+
+                for key, value in buttons_raw.items():
+                    if isinstance(value, dict):
+                        self._button_states[key] = bool(value.get("pressed", False))
+                    else:
+                        self._button_states[key] = bool(value)
+
+                for key, value in axes_raw.items():
+                    self._axis_values[key] = float(value) if isinstance(value, int | float) else 0.0
+
+                self._connected = True
+                self._device_id = str(event.raw.get("id", ""))
+
+            elif event_type == "gamepad_disconnect":
+                self._connected = False
+                self._device_id = ""
+                self._button_states.clear()
+                self._axis_values.clear()
+
+            self._record_event(event)
+
+    @override
+    def snapshot(self) -> dict[str, Any]:
+        with self._lock:
+            pressed_buttons = sorted([k for k, v in self._button_states.items() if v])
+            active_axes = {k: round(v, 3) for k, v in self._axis_values.items() if abs(v) > 0.01}
+            is_active = bool(pressed_buttons) or bool(active_axes)
+            return {
+                "device": self.name,
+                "connected": self._connected,
+                "device_id": self._device_id,
+                "pressed_buttons": pressed_buttons,
+                "active_axes": active_axes,
+                "timestamp": self._latest_state.get("timestamp"),
+                "active": is_active,
+                "key_bindings": self.key_bindings(),
+            }
+
+    def key_bindings(self) -> dict[str, str]:
+        return {
+            "Left Stick Y": "+x / -x",
+            "Left Stick X": "-y / +y",
+            "Right Stick Y": "-z / +z",
+            "Right Stick X": "+yaw / -yaw",
+            "D-Pad Left/Right": "+roll / -roll",
+            "D-Pad Up/Down": "-pitch / +pitch",
+            "RT": "intervention (hold)",
+            "X": "toggle gripper",
+        }
+
+    def is_active(self) -> bool:
+        with self._lock:
+            return any(self._button_states.values()) or any(abs(v) > 0.01 for v in self._axis_values.values())
+
+    def get_button(self, button_name: str) -> bool:
+        with self._lock:
+            return self._button_states.get(button_name, False)
+
+    def get_axis(self, axis_name: str) -> float:
+        with self._lock:
+            return self._axis_values.get(axis_name, 0.0)
diff --git a/src/verl_vla/teleop/obs_server/html/gamepad_device.js b/src/verl_vla/teleop/obs_server/html/gamepad_device.js
new file mode 100644
index 0000000..843bd90
--- /dev/null
+++ b/src/verl_vla/teleop/obs_server/html/gamepad_device.js
@@ -0,0 +1,189 @@
+/*
+Copyright 2026 Bytedance Ltd. and/or its affiliates
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    https://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+class TeleopGamepadDevice {
+  constructor(socketProvider) {
+    this.socketProvider = socketProvider;
+    this.pollInterval = null;
+    this.connected = false;
+    this.lastButtons = {};
+    this.lastAxes = {};
+    this.deadzone = 0.15;
+    this.threshold = 0.5;
+    this.handleConnect = this.handleConnect.bind(this);
+    this.handleDisconnect = this.handleDisconnect.bind(this);
+    this.pollState = this.pollState.bind(this);
+
+    this.buttonNames = {
+      0: "A",
+      1: "B",
+      2: "X",
+      3: "Y",
+      4: "LB",
+      5: "RB",
+      6: "LT",
+      7: "RT",
+      8: "View",
+      9: "Menu",
+      10: "LS",
+      11: "RS",
+      12: "DUp",
+      13: "DDown",
+      14: "DLeft",
+      15: "DRight"
+    };
+  }
+
+  attach() {
+    window.addEventListener("gamepadconnected", this.handleConnect);
+    window.addEventListener("gamepaddisconnected", this.handleDisconnect);
+    this.startPolling();
+  }
+
+  detach() {
+    window.removeEventListener("gamepadconnected", this.handleConnect);
+    window.removeEventListener("gamepaddisconnected", this.handleDisconnect);
+    this.stopPolling();
+  }
+
+  handleConnect(event) {
+    this.connected = true;
+    console.log("Gamepad connected:", event.gamepad.id);
+  }
+
+  handleDisconnect(event) {
+    this.connected = false;
+    this.lastButtons = {};
+    this.lastAxes = {};
+    console.log("Gamepad disconnected:", event.gamepad.id);
+  }
+
+  startPolling() {
+    if (this.pollInterval) {
+      clearInterval(this.pollInterval);
+    }
+    this.pollInterval = setInterval(this.pollState, 16);
+  }
+
+  stopPolling() {
+    if (this.pollInterval) {
+      clearInterval(this.pollInterval);
+      this.pollInterval = null;
+    }
+  }
+
+  applyDeadzone(value) {
+    if (Math.abs(value) < this.deadzone) {
+      return 0;
+    }
+    return value;
+  }
+
+  pollState() {
+    const gamepads = navigator.getGamepads ? navigator.getGamepads() : [];
+    let hasActiveGamepad = false;
+
+    for (const gamepad of gamepads) {
+      if (!gamepad || !gamepad.connected) {
+        continue;
+      }
+
+      hasActiveGamepad = true;
+      const buttons = {};
+      const axes = {};
+      let changed = false;
+
+      for (let i = 0; i < gamepad.buttons.length; i++) {
+        const button = gamepad.buttons[i];
+        // 使用友好名称，如 "A", "B", "RT", "LT" 等
+        const key = this.buttonNames[i] || `button_${i}`;
+        buttons[key] = {
+          pressed: button.pressed,
+          touched: button.touched,
+          value: button.value
+        };
+        if (this.lastButtons[key] === undefined ||
+            this.lastButtons[key].pressed !== button.pressed ||
+            Math.abs(this.lastButtons[key].value - button.value) > 0.01) {
+          changed = true;
+        }
+      }
+
+      for (let i = 0; i < gamepad.axes.length; i++) {
+        const rawValue = gamepad.axes[i];
+        const value = this.applyDeadzone(rawValue);
+        const key = `axis_${i}`;
+        axes[key] = value;
+        if (this.lastAxes[key] === undefined ||
+            Math.abs(this.lastAxes[key] - value) > 0.01) {
+          changed = true;
+        }
+      }
+
+      if (changed || Object.keys(this.lastButtons).length === 0) {
+        this.sendState(gamepad, buttons, axes);
+        this.lastButtons = buttons;
+        this.lastAxes = axes;
+      }
+    }
+
+    if (!hasActiveGamepad && Object.keys(this.lastButtons).length > 0) {
+      this.sendDisconnect();
+    }
+  }
+
+  sendState(gamepad, buttons, axes) {
+    const socket = this.socketProvider();
+    if (!socket || socket.readyState !== WebSocket.OPEN) {
+      return;
+    }
+
+    const payload = {
+      event_type: "gamepad_update",
+      timestamp: Date.now() / 1000,
+      id: gamepad.id,
+      index: gamepad.index,
+      mapping: gamepad.mapping,
+      buttons,
+      axes
+    };
+
+    socket.send(JSON.stringify({
+      type: "gamepad_update",
+      device: "gamepad",
+      payload
+    }));
+  }
+
+  sendDisconnect() {
+    const socket = this.socketProvider();
+    if (!socket || socket.readyState !== WebSocket.OPEN) {
+      return;
+    }
+
+    socket.send(JSON.stringify({
+      type: "gamepad_update",
+      device: "gamepad",
+      payload: {
+        event_type: "gamepad_disconnect",
+        timestamp: Date.now() / 1000
+      }
+    }));
+
+    this.lastButtons = {};
+    this.lastAxes = {};
+  }
+}
\ No newline at end of file
diff --git a/src/verl_vla/teleop/obs_server/html/index.html b/src/verl_vla/teleop/obs_server/html/index.html
index 78fae08..f740b72 100644
--- a/src/verl_vla/teleop/obs_server/html/index.html
+++ b/src/verl_vla/teleop/obs_server/html/index.html
@@ -63,6 +63,7 @@
     </section>
   </main>
   <script src="/static/keyboard_device.js"></script>
+  <script src="/static/gamepad_device.js"></script>
   <script src="/static/xr_renderer.js"></script>
   <script>
     const TELEOP_DEVICE_TYPES = __TELEOP_DEVICE_TYPES__;
@@ -79,6 +80,7 @@
       right: {property: "--right-panel-width", storageKey: "teleop-right-panel-width", min: 300, max: 620, fallback: 390}
     };
     const keyboardDevice = new TeleopKeyboardDevice(() => inputSocket);
+    const gamepadDevice = new TeleopGamepadDevice(() => inputSocket);
     const xrRenderer = new TeleopXRRenderer();
 
     function clearElement(element) {
@@ -549,6 +551,9 @@
     if (TELEOP_DEVICE_TYPES.includes("keyboard")) {
       keyboardDevice.attach();
     }
+    if (TELEOP_DEVICE_TYPES.includes("gamepad")) {
+      gamepadDevice.attach();
+    }
     setTheme(localStorage.getItem("teleop-theme") || "system");
     restorePanelWidths();
     initPanelResizers();
diff --git a/src/verl_vla/teleop/obs_server/server.py b/src/verl_vla/teleop/obs_server/server.py
index fc41a2c..ddcdc91 100644
--- a/src/verl_vla/teleop/obs_server/server.py
+++ b/src/verl_vla/teleop/obs_server/server.py
@@ -114,6 +114,8 @@ async def input_stream(websocket: WebSocket):
                     continue
                 if device_type == "xr_controller" and message_type != "xr_frame":
                     continue
+                if device_type == "gamepad" and message_type not in {"gamepad_update", "gamepad_disconnect"}:
+                    continue
                 payload = message.get("payload", {})
                 input_devices[device_type].handle_event(DeviceEvent.from_payload(payload))
                 if latest_input_fn is not None:
diff --git a/src/verl_vla/teleop/strategies/gamepad_libero.py b/src/verl_vla/teleop/strategies/gamepad_libero.py
new file mode 100644
index 0000000..f26cc5d
--- /dev/null
+++ b/src/verl_vla/teleop/strategies/gamepad_libero.py
@@ -0,0 +1,168 @@
+# Copyright 2026 Bytedance Ltd. and/or its affiliates
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Any
+
+import numpy as np
+from scipy.spatial.transform import Rotation
+from typing_extensions import override
+
+from verl_vla.teleop.config import GamepadTeleopConfig
+from verl_vla.teleop.devices import DeviceBase
+from verl_vla.teleop.strategies.base import InterventionStrategyBase
+
+
+class LiberoGamepadStrategy(InterventionStrategyBase):
+    env_type = "libero"
+    device_type = "gamepad"
+    _GRIPPER_TERM = True
+
+    def __init__(self, cfg: GamepadTeleopConfig | None = None):
+        gamepad_cfg = cfg or GamepadTeleopConfig()
+        super().__init__(gamepad_cfg)
+        self.cfg = gamepad_cfg
+        self._active = False
+        self._close_gripper = False
+        self._button_states: dict[str, bool] = {}
+        self._axis_values: dict[str, float] = {}
+        self._prev_gripper_pressed = False
+
+    @override
+    def reset(self) -> None:
+        self._active = False
+        self._close_gripper = False
+        self._button_states.clear()
+        self._axis_values.clear()
+        self._prev_gripper_pressed = False
+
+    @override
+    def is_intervening(self, device: DeviceBase) -> bool:
+        self._process_events(device)
+        return self._active
+
+    @override
+    def apply_action(self, action: Any, device: DeviceBase) -> Any:
+        command = self._command_from_device(device)
+        action_array = np.asarray(action)
+        if not self.is_intervening(device):
+            if action_array.shape != command.shape:
+                return self._default_command()
+            return action
+        command = self._state_to_action(action, command)
+        if action_array.shape == command.shape:
+            return command.astype(action_array.dtype, copy=False)
+        if action_array.ndim > 0 and action_array.shape[-1] == command.shape[-1]:
+            overridden = action_array.copy()
+            overridden[...] = command.astype(action_array.dtype, copy=False)
+            return overridden
+        return command
+
+    @override
+    def snapshot(self, device: DeviceBase) -> dict[str, Any]:
+        command = self._command_from_device(device)
+        return {
+            "strategy": f"{self.env_type}:{self.device_type}",
+            "is_intervening": self.is_intervening(device),
+            "active": self._active,
+            "close_gripper": self._close_gripper,
+            "command": command.astype(float).tolist(),
+        }
+
+    def _command_from_device(self, device: DeviceBase) -> np.ndarray:
+        self._process_events(device)
+
+        left_x = self._axis_values.get(self.cfg.left_stick_x_axis, 0.0)
+        left_y = self._axis_values.get(self.cfg.left_stick_y_axis, 0.0)
+        right_y = self._axis_values.get(self.cfg.right_stick_y_axis, 0.0)
+
+        delta_pos = np.zeros(3, dtype=np.float32)
+        delta_pos[0] = left_y * self.cfg.pos_sensitivity
+        delta_pos[1] = -left_x * self.cfg.pos_sensitivity
+        delta_pos[2] = -right_y * self.cfg.pos_sensitivity
+
+        dpad_up = self._button_states.get(self.cfg.dpad_up_button, False)
+        dpad_down = self._button_states.get(self.cfg.dpad_down_button, False)
+        dpad_left = self._button_states.get(self.cfg.dpad_left_button, False)
+        dpad_right = self._button_states.get(self.cfg.dpad_right_button, False)
+        right_x = self._axis_values.get(self.cfg.right_stick_x_axis, 0.0)
+
+        delta_rot = np.zeros(3, dtype=np.float32)
+        delta_rot[0] = (dpad_left - dpad_right) * self.cfg.rot_sensitivity
+        delta_rot[1] = (dpad_up - dpad_down) * self.cfg.rot_sensitivity
+        delta_rot[2] = -right_x * self.cfg.rot_sensitivity
+
+        rot_vec = Rotation.from_euler("XYZ", delta_rot).as_rotvec()
+        command = np.concatenate([delta_pos, rot_vec]).astype(np.float32)
+
+        if self._GRIPPER_TERM:
+            gripper = 1.0 if self._close_gripper else -1.0
+            command = np.append(command, gripper).astype(np.float32)
+
+        return command
+
+    def _state_to_action(self, action: Any, relative_command: np.ndarray) -> np.ndarray:
+        return relative_command.astype(np.float32)
+
+    def _process_events(self, device: DeviceBase) -> None:
+        try:
+            events = device.drain_events()
+        except Exception:
+            events = []
+
+        for event in events:
+            if not isinstance(event, dict):
+                continue
+
+            event_type = str(event.get("event_type", "")).lower()
+            if event_type == "gamepad_update":
+                raw = event.get("raw", {})
+                if not isinstance(raw, dict):
+                    raw = {}
+
+                buttons_raw = raw.get("buttons", {})
+                if not isinstance(buttons_raw, dict):
+                    buttons_raw = {}
+
+                axes_raw = raw.get("axes", {})
+                if not isinstance(axes_raw, dict):
+                    axes_raw = {}
+
+                for key, value in buttons_raw.items():
+                    if isinstance(value, dict):
+                        self._button_states[key] = bool(value.get("pressed", False))
+                    else:
+                        self._button_states[key] = bool(value)
+
+                for key, value in axes_raw.items():
+                    self._axis_values[key] = float(value) if isinstance(value, int | float) else 0.0
+
+                intervention_pressed = self._button_states.get(self.cfg.intervention_button, False)
+                self._active = bool(intervention_pressed)
+
+                gripper_pressed = self._button_states.get(self.cfg.gripper_button, False)
+                if gripper_pressed and not self._prev_gripper_pressed:
+                    self._close_gripper = not self._close_gripper
+                self._prev_gripper_pressed = gripper_pressed
+
+            elif event_type == "gamepad_disconnect":
+                self._active = False
+                self._button_states.clear()
+                self._axis_values.clear()
+                self._prev_gripper_pressed = False
+
+    def _default_command(self) -> np.ndarray:
+        command = np.zeros(6, dtype=np.float32)
+        if self._GRIPPER_TERM:
+            command = np.append(command, 0.0).astype(np.float32)
+        return command
diff --git a/src/verl_vla/teleop/strategies/registry.py b/src/verl_vla/teleop/strategies/registry.py
index 7e151bb..106b522 100644
--- a/src/verl_vla/teleop/strategies/registry.py
+++ b/src/verl_vla/teleop/strategies/registry.py
@@ -15,6 +15,7 @@
 from typing import Any
 
 from verl_vla.teleop.strategies.base import InterventionStrategyBase
+from verl_vla.teleop.strategies.gamepad_libero import LiberoGamepadStrategy
 from verl_vla.teleop.strategies.keyboard_libero import LiberoKeyboardStrategy
 from verl_vla.teleop.strategies.xr_controller_arena import ArenaXRControllerStrategy
 from verl_vla.teleop.strategies.xr_controller_libero import LiberoXRControllerStrategy
@@ -41,6 +42,7 @@ def get(self, env_type: str, device_type: str, cfg: Any) -> InterventionStrategy
 _REGISTRY.register(LiberoKeyboardStrategy)
 _REGISTRY.register(LiberoXRControllerStrategy)
 _REGISTRY.register(ArenaXRControllerStrategy)
+_REGISTRY.register(LiberoGamepadStrategy)
 
 
 def get_strategy(env_type: str, device_type: str, cfg: Any) -> InterventionStrategyBase:
diff --git a/src/verl_vla/teleop/teleop_controller.py b/src/verl_vla/teleop/teleop_controller.py
index 6550d08..9557a80 100644
--- a/src/verl_vla/teleop/teleop_controller.py
+++ b/src/verl_vla/teleop/teleop_controller.py
@@ -20,6 +20,8 @@
 from verl_vla.teleop.config import load_teleop_config
 from verl_vla.teleop.devices import (
     DeviceBase,
+    GamepadDevice,
+    GamepadDeviceCfg,
     KeyboardDevice,
     KeyboardDeviceCfg,
     XRControllerDevice,
@@ -161,6 +163,8 @@ def _create_input_device(self, device_type: str) -> DeviceBase:
             return KeyboardDevice(KeyboardDeviceCfg())
         if device_type == "xr_controller":
             return XRControllerDevice(XRControllerDeviceCfg(max_events=self.teleop_cfg.xr_controller.max_events))
+        if device_type == "gamepad":
+            return GamepadDevice(GamepadDeviceCfg())
         raise NotImplementedError(f"Teleop device {device_type} is not implemented")
 
     def _create_strategy(self, device_type: str) -> InterventionStrategyBase:
@@ -168,4 +172,6 @@ def _create_strategy(self, device_type: str) -> InterventionStrategyBase:
             return get_strategy(self.env_type, device_type, self.teleop_cfg.keyboard)
         if device_type == "xr_controller":
             return get_strategy(self.env_type, device_type, self.teleop_cfg.xr_controller)
+        if device_type == "gamepad":
+            return get_strategy(self.env_type, device_type, self.teleop_cfg.gamepad)
         raise NotImplementedError(f"Teleop strategy for device {device_type} is not implemented")
diff --git a/src/verl_vla/trainer/config/env/rob_sac_env.yaml b/src/verl_vla/trainer/config/env/rob_sac_env.yaml
index 21c0faf..23cd2ea 100644
--- a/src/verl_vla/trainer/config/env/rob_sac_env.yaml
+++ b/src/verl_vla/trainer/config/env/rob_sac_env.yaml
@@ -221,6 +221,7 @@ train:
     devices:
       - keyboard
       - xr_controller
+      - gamepad
 
     # Keyboard SE(3) relative action sensitivities for LIBERO.
     keyboard:
@@ -236,6 +237,22 @@ train:
       gripper_button: trigger
       button_threshold: 0.5
 
+    # Gamepad controller relative SE(3) action mapping for LIBERO.
+    gamepad:
+      pos_sensitivity: 0.5
+      rot_sensitivity: 1.0
+      intervention_button: RT
+      gripper_button: X
+      button_threshold: 0.5
+      left_stick_x_axis: axis_0
+      left_stick_y_axis: axis_1
+      right_stick_y_axis: axis_3
+      right_stick_x_axis: axis_2
+      dpad_up_button: DUp
+      dpad_down_button: DDown
+      dpad_left_button: DLeft
+      dpad_right_button: DRight
+
 disagg_sim:
 
   # Whether simulator workers run on separate nodes from training workers.

From 6e9e72ce2673fc9025adebb7f90b1b04a300c5cf Mon Sep 17 00:00:00 2001
From: Shi Yi <1026598796@qq.com>
Date: Mon, 22 Jun 2026 18:43:41 +0800
Subject: [PATCH 2/5] Update
 src/verl_vla/teleop/obs_server/html/gamepad_device.js

Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
---
 src/verl_vla/teleop/obs_server/html/gamepad_device.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/verl_vla/teleop/obs_server/html/gamepad_device.js b/src/verl_vla/teleop/obs_server/html/gamepad_device.js
index 843bd90..93c2456 100644
--- a/src/verl_vla/teleop/obs_server/html/gamepad_device.js
+++ b/src/verl_vla/teleop/obs_server/html/gamepad_device.js
@@ -138,6 +138,7 @@ class TeleopGamepadDevice {
         this.lastButtons = buttons;
         this.lastAxes = axes;
       }
+      break;
     }
 
     if (!hasActiveGamepad && Object.keys(this.lastButtons).length > 0) {

From c0c23b736bc06fb2c70a4cf4599c2b23c1c3328c Mon Sep 17 00:00:00 2001
From: Shi Yi <1026598796@qq.com>
Date: Mon, 22 Jun 2026 18:44:41 +0800
Subject: [PATCH 3/5] Update src/verl_vla/teleop/devices/gamepad.py

Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
---
 src/verl_vla/teleop/devices/gamepad.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/verl_vla/teleop/devices/gamepad.py b/src/verl_vla/teleop/devices/gamepad.py
index ef63aa3..3a662ee 100644
--- a/src/verl_vla/teleop/devices/gamepad.py
+++ b/src/verl_vla/teleop/devices/gamepad.py
@@ -96,11 +96,11 @@ def snapshot(self) -> dict[str, Any]:
     def key_bindings(self) -> dict[str, str]:
         return {
             "Left Stick Y": "+x / -x",
-            "Left Stick X": "-y / +y",
-            "Right Stick Y": "-z / +z",
+            "Left Stick X": "+y / -y",
+            "Right Stick Y": "+z / -z",
             "Right Stick X": "+yaw / -yaw",
             "D-Pad Left/Right": "+roll / -roll",
-            "D-Pad Up/Down": "-pitch / +pitch",
+            "D-Pad Up/Down": "+pitch / -pitch",
             "RT": "intervention (hold)",
             "X": "toggle gripper",
         }

From f4c2e62b515f47944c11c611cae5cf159fe1446e Mon Sep 17 00:00:00 2001
From: zzzyishi <1026598796@qq.com>
Date: Mon, 22 Jun 2026 19:00:23 +0800
Subject: [PATCH 4/5] fix: gamepad

---
 src/verl_vla/teleop/devices/gamepad.py           | 8 ++++++--
 src/verl_vla/teleop/strategies/gamepad_libero.py | 5 +----
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/src/verl_vla/teleop/devices/gamepad.py b/src/verl_vla/teleop/devices/gamepad.py
index 3a662ee..30767b6 100644
--- a/src/verl_vla/teleop/devices/gamepad.py
+++ b/src/verl_vla/teleop/devices/gamepad.py
@@ -53,8 +53,12 @@ def handle_event(self, event: DeviceEvent) -> None:
             event_type = event.event_type.lower()
             if event_type == "gamepad_update":
                 self._latest_state = dict(event.raw)
-                buttons_raw = event.raw.get("buttons", {})
-                axes_raw = event.raw.get("axes", {})
+                buttons_raw = event.raw.get("buttons")
+                if not isinstance(buttons_raw, dict):
+                    buttons_raw = {}
+                axes_raw = event.raw.get("axes")
+                if not isinstance(axes_raw, dict):
+                    axes_raw = {}
 
                 for key, value in buttons_raw.items():
                     if isinstance(value, dict):
diff --git a/src/verl_vla/teleop/strategies/gamepad_libero.py b/src/verl_vla/teleop/strategies/gamepad_libero.py
index f26cc5d..f4ba14c 100644
--- a/src/verl_vla/teleop/strategies/gamepad_libero.py
+++ b/src/verl_vla/teleop/strategies/gamepad_libero.py
@@ -115,10 +115,7 @@ def _state_to_action(self, action: Any, relative_command: np.ndarray) -> np.ndar
         return relative_command.astype(np.float32)
 
     def _process_events(self, device: DeviceBase) -> None:
-        try:
-            events = device.drain_events()
-        except Exception:
-            events = []
+        events = device.drain_events()
 
         for event in events:
             if not isinstance(event, dict):

From bf118428b63a0a0ce87e39102c480aee2495ffeb Mon Sep 17 00:00:00 2001
From: zzzyishi <1026598796@qq.com>
Date: Thu, 25 Jun 2026 11:03:30 +0800
Subject: [PATCH 5/5] fix more reasonable control

---
 src/verl_vla/teleop/config.py                    |  2 +-
 src/verl_vla/teleop/strategies/gamepad_libero.py | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/verl_vla/teleop/config.py b/src/verl_vla/teleop/config.py
index c910fa8..e71f894 100644
--- a/src/verl_vla/teleop/config.py
+++ b/src/verl_vla/teleop/config.py
@@ -50,7 +50,7 @@ class XRControllerTeleopConfig:
 @dataclass(frozen=True)
 class GamepadTeleopConfig:
     pos_sensitivity: float = 0.5
-    rot_sensitivity: float = 1.0
+    rot_sensitivity: float = 0.5
     intervention_button: str = "RT"
     gripper_button: str = "X"
     button_threshold: float = 0.5
diff --git a/src/verl_vla/teleop/strategies/gamepad_libero.py b/src/verl_vla/teleop/strategies/gamepad_libero.py
index f4ba14c..2c6c9fd 100644
--- a/src/verl_vla/teleop/strategies/gamepad_libero.py
+++ b/src/verl_vla/teleop/strategies/gamepad_libero.py
@@ -87,9 +87,9 @@ def _command_from_device(self, device: DeviceBase) -> np.ndarray:
         right_y = self._axis_values.get(self.cfg.right_stick_y_axis, 0.0)
 
         delta_pos = np.zeros(3, dtype=np.float32)
-        delta_pos[0] = left_y * self.cfg.pos_sensitivity
-        delta_pos[1] = -left_x * self.cfg.pos_sensitivity
-        delta_pos[2] = -right_y * self.cfg.pos_sensitivity
+        delta_pos[0] = -left_y * self.cfg.pos_sensitivity
+        delta_pos[1] = left_x * self.cfg.pos_sensitivity
+        delta_pos[2] = right_y * self.cfg.pos_sensitivity
 
         dpad_up = self._button_states.get(self.cfg.dpad_up_button, False)
         dpad_down = self._button_states.get(self.cfg.dpad_down_button, False)
@@ -98,9 +98,9 @@ def _command_from_device(self, device: DeviceBase) -> np.ndarray:
         right_x = self._axis_values.get(self.cfg.right_stick_x_axis, 0.0)
 
         delta_rot = np.zeros(3, dtype=np.float32)
-        delta_rot[0] = (dpad_left - dpad_right) * self.cfg.rot_sensitivity
-        delta_rot[1] = (dpad_up - dpad_down) * self.cfg.rot_sensitivity
-        delta_rot[2] = -right_x * self.cfg.rot_sensitivity
+        delta_rot[0] = 0.5 * (dpad_right - dpad_left) * self.cfg.rot_sensitivity
+        delta_rot[1] = 0.5 * (dpad_down - dpad_up) * self.cfg.rot_sensitivity
+        delta_rot[2] = right_x * self.cfg.rot_sensitivity
 
         rot_vec = Rotation.from_euler("XYZ", delta_rot).as_rotvec()
         command = np.concatenate([delta_pos, rot_vec]).astype(np.float32)