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FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation

Yishu Shen, Yiming Luo, Ruilin Wang, Bowen Yang, Shuai Yang, Fangyi Xu, Yujun Shen, Fu Zhang, Boyu Zhou, Yinghao Xu
Original paper Read the full paper (PDF)
From the 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.

From the abstract. Our summary is in progress.