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cs.RO2026
FP2: Equipping Robotic Foundation Models with Force Control
Hongjie Fang, Shirun Tang, Junjian Hu +8
Robotic foundation models (RFMs) are increasingly capable of general-purpose manipulation, yet reliable physical interaction remains challenging in contact-rich settings. We presen…
cs.RO2026
HINT: Human-Intent Inception for Long-Horizon Robot Manipulation
Mingyu Mei, Haojie Xu, Shihao Jin +9
Humans can perform complex manipulations given a simple intent through an overall instruction, while continuously adapting to evolving visual observations. However, current vision-…
cs.RO2026
Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
Hongjie Fang, Shirun Tang, Mingyu Mei +9
Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabiliz…