Force-Modulated Dexterity: Unified Compliance for Contact-Rich Manipulation
We introduce Force-Modulated Dexterity (FOMO-Dex), a unified compliance formulation for contact-rich manipulation.
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Key points
- Teleoperation is widely used to collect high-quality demonstrations for robot learning.
- Dexterous manipulation, however, requires coordinated control of motion and contact forces.
- FOMO-Dex expresses nominal actions in coordinates defined by task geometry and contact structure.
- Across card picking, paper cutting, screwdriving, and nut-and-bolt assembly, FOMO-Dex reduces excessive contact forces compared with stiff control.
Sources (1)
- [1]Force-Modulated Dexterity: Unified Compliance for Contact-Rich ManipulationarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 12, 05:37 PM
We introduce Force-Modulated Dexterity (FOMO-Dex), a unified compliance formulation for contact-rich manipulation.
Teleoperation is widely used to collect high-quality demonstrations for robot learning.
Extractive summary: sentences quoted from the sources.
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