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arXiv · 2610.19839

FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation

Yishu Shen·Yiming Luo·Ruilin Wang·Bowen Yang·Shuai Yang·Fangyi Xu·Yujun Shen·Fu Zhang·Boyu Zhou·Yinghao Xu
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Abstract

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 force-feedback manipulation interface with a scissor-shaped mechanism, which transmits object interaction forces directly to the operator's hands through actuation links without force sensors. This intuitive force feedback supports real-time action adjustment during robot-free collection of contact-rich demonstrations. Around FOMI, we build a demonstration collection system that integrates sensor calibration, data acquisition, and synchronization for robot-free collection. By further mapping pose changes and gripper opening of FOMI to robot end-effector poses and gripper commands, the system also supports teleoperation. Across four contact-rich tasks, FOMI improves collection efficiency by approximately 29% and 18% over the best baselines in robot-free collection and teleoperation, respectively. Demonstrations collected with FOMI in both modes enable policies to perform challenging contact-rich manipulation tasks with high success rates.

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Yishu Shen, Yiming Luo, Ruilin Wang, Bowen Yang, Shuai Yang, Fangyi Xu, Yujun Shen, Fu Zhang, Boyu Zhou, Yinghao Xu. 2026-10-14. FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation. https://arxiv.org/abs/2610.19839

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