Preprint
Oct 2026
FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation
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. To address this, we present FOMI, a...
Yi-Shu Shen, Yi-Ming Luo, Rui-Lin Wang et al.
· 0 citations