FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation
FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation
FOM, a force-feedback manipulation interface, enables scalable acquisition of human demonstrations for policy learning through intuitive force feedback. The system supports both robot-free collection and teleoperation, improving collection efficiency by approximately 29% and 18% over existing baselines in contact-rich tasks.
Source: arXiv Robotics — research abstracts · Read original article ↗
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contact-rich tasks
4
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ction. By further mapping pose changes and gripper opening of FOMI to robot end-effector poses and gripper commands, the system also supports teleoperation. Across four contact-rich tasks, FOMI improves collection efficiency by approximately 29% and 18% over the best baselines in robot-free collection and teleoperation, respectively. Demonstrations collected with FOMI in both modes enable policies to perform challeng
Open source S4robot-free collection tasks
4
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ction. By further mapping pose changes and gripper opening of FOMI to robot end-effector poses and gripper commands, the system also supports teleoperation. Across four contact-rich tasks, FOMI improves collection efficiency by approximately 29% and 18% over the best baselines in robot-free collection and teleoperation, respectively. Demonstrations collected with FOMI in both modes enable policies to perform challeng
Open source S4
- paper: not_reported
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- dataset: not_reported
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ction. By further mapping pose changes and gripper opening of FOMI to robot end-effector poses and gripper commands, the system also supports teleoperation. Across four contact-rich tasks, FOMI improves collection efficiency by approximately 29% and 18% over the best baselines in robot-free collection and teleoperation, respectively. Demonstrations collected with FOMI in both modes enable policies to perform challeng
Open source S4
ing contact-rich manipulation tasks with high success rates.
Open source S5
arXiv:2610.19839v1 Announce Type: new Abstract: Robot-free collection with handheld interfaces enables scalable acquisition of human demonstrations for policy learning. However, existing handheld interfaces often provide limited intuitive force feedback, making contact-rich demonstration collection challenging for human operators. To address this, we present FOMI, a force-feedback manipulation interface with a scisso
Open source S2
r-shaped mechanism, which transmits object interaction forces directly to the operator's hands through actuation links without force sensors. This intuitive force feedback supports real-time action adjustment during robot-free collection of contact-rich demonstrations. Around FOMI, we build a demonstration collection system that integrates sensor calibration, data acquisition, and synchronization for robot-free colle
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org