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arXiv · 2511.20887

ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation

Rui Yan·Jiajian Fu·Shiqi Yang·Lars Paulsen·Xuxin Cheng·Xiaolong Wang
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Abstract

Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback, cross-embodiment generalization, and portable, user-friendly designs, limiting their practical deployment. To address these limitations, we introduce ACE-F, a cross embodiment foldable teleoperation system with integrated force feedback. Our approach leverages inverse kinematics (IK) combined with a carefully designed human-robot interface (HRI), enabling users to capture precise and high-quality demonstrations effortlessly. We further propose a generalized soft-controller pipeline integrating PD control and inverse dynamics to ensure robot safety and precise motion control across diverse robotic embodiments. Critically, to achieve cross-embodiment generalization of force feedback without additional sensors, we innovatively interpret end-effector positional deviations as virtual force signals, which enhance data collection and enable applications in imitation learning. Extensive teleoperation experiments confirm that ACE-F significantly simplifies the control of various robot embodiments, making dexterous manipulation tasks as intuitive as operating a computer mouse. The system is open-sourced at: https://acefoldable.github.io/

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Rui Yan, Jiajian Fu, Shiqi Yang, Lars Paulsen, Xuxin Cheng, Xiaolong Wang. 2025-11-25. ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation. https://arxiv.org/abs/2511.20887

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