FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation
To address this, we present FOMI, a force-feedback manipulation interface with a scissor-shaped mechanism, which transmits object interaction forces directly to the operator's hands through actuation links without force sensors.
ProofPaper ↗
Key points
- Robot-free collection with handheld interfaces enables scalable acquisition of human demonstrations for policy learning.
- 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 collection.
- Demonstrations collected with FOMI in both modes enable policies to perform challenging contact-rich manipulation tasks with high success rates.
Sources (1)
- [1]FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich ManipulationarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 14, 09:10 AM
To address this, we present FOMI, a force-feedback manipulation interface with a scissor-shaped mechanism, which transmits object interaction forces directly to the operator's hands through actuation links without force sensors.
Robot-free collection with handheld interfaces enables scalable acquisition of human demonstrations for policy learning.
Extractive summary: sentences quoted from the sources.
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