Force-aware robot foundation model pretrained on 2,000 hours of human tactile-glove dataExpert
FACT: A Multimodal Force-Action-Track Foundation Model for Human-to-Robot Dexterity
A Stanford-led preprint, with Fei-Fei Li and Jiajun Wu among the authors, shows that human demonstrations recorded with force-sensing gloves can teach robot hands fiddly jobs such as pipetting and opening test tubes with only 10 robot demonstrations per task. Its model beat Physical Intelligence's pi-0.5 and the tactile policy T-Rex on ten real-robot tasks, in some cases by 60 percentage points.