The authors developed FLoRe, a framework for learning force-reactive humanoid loco-manipulation.
Force-reactive control lets humanoids learn contact-rich tasks from demonstration
A framework called FLoRe records hand force alongside motion during human demonstration, then uses a diffusion policy and hybrid-compliance controller to track commanded forces on a real robot.
Big Tech
Sihang Li · Xiaofeng Guo · Jinkun Cao · Charlie Cheng · Ruihan Yang · Chen Feng · +2 more
Amazon FAR (Frontier AI & Robotics) · New York University · Carnegie Mellon University · University of Chicago
Research Digest··3 min read
FLoRe combines a robot-free data collection system that records contact wrench at each hand with a force-reactive diffusion policy and a hybrid-compliance whole-body controller.
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