FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation
cs.RO
Submitted: 2026-10-14
Updated: 2026-10-14
Project page: https://robbyant-research.github.io/FOMI
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphones
- In-the-Wild Compliant Manipulation with UMI-FT
- ModPack: Extensible Teleoperation Interface for Bimanual Mobile Manipulation
- RoboPocket: Improve Robot Policies Instantly with Your Phone
- Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
- Influence of Gripper Design on Human Demonstration Quality for Robot Learning
- $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
- WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning
- ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
- FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning
- FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset
- RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalization
- OmniUMI: Towards Physically Grounded Robot Learning via Human-Aligned Multimodal Interaction
- YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale
- Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts
- MimicPlay: Long-Horizon Imitation Learning by Watching Human Play
- FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation
- exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation
- DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove
- Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
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