Benchmark for adding wrist force sensing to VLA manipulation policiesIntermediate
ForceBench: Benchmarking Force Integration for Robotic Manipulation
Peking University researchers built a common test bed for the question of how a robot AI model should use a wrist force sensor, and found that the simplest option, writing the force reading into the model's text prompt, worked most consistently. On a real arm it lifted average task success from 40% to 63%, while fancier time-series designs hurt on assembly work.