Force-Modulated Dexterity: Unified Compliance for Contact-Rich Manipulation
Teleoperation is widely used to collect high-quality demonstrations for robot learning. Dexterous manipulation, however, requires coordinated control of motion and contact forces. Operators can specify motion, but struggle to reproduce the subtle force adjustments of human manipulation without feeling the robot's contacts. We introduce Force-Modulated Dexterity (FOMO-Dex), a unified compliance formulation for contact-rich manipulation. FOMO-Dex expresses nominal actions in coordinates defined by task geometry and contact structure. It applies force-driven motion corrections along selected directions while leaving the remaining command components unchanged. Across card picking, paper cutti...
| Authors | Ying Yuan, David Held, Jitendra Malik et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 15 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.