dorsal/arxiv
View SchemaIn-the-Wild Compliant Manipulation with UMI-FT
| Authors | Hojung Choi, Yifan Hou, Chuer Pan, Seongheon Hong, Austin Patel, Xiaomeng Xu, Mark R. Cutkosky, Shuran Song |
|---|---|
| Categories | |
| ArXiv ID | 2601.09988vv1 |
| URL | https://arxiv.org/abs/2601.09988 |
| License | http://arxiv.org/licenses/nonexclusive-distrib/1.0/ |
Abstract
Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragility of commercial force/torque (F/T) sensors have limited large-scale, force-aware policy learning. We introduce UMI-FT, a handheld data-collection platform that mounts compact, six-axis force/torque sensors on each finger, enabling finger-level wrench measurements alongside RGB, depth, and pose. Using the multimodal data collected from this device, we train an adaptive compliance policy that predicts position targets, grasp force, and stiffness for execution on standard compliance controllers. In evaluations on three contact-rich, force-sensitive tasks (whiteboard wiping, skewering zucchini, and lightbulb insertion), UMI-FT enables policies that reliably regulate external contact forces and internal grasp forces, outperforming baselines that lack compliance or force sensing. UMI-FT offers a scalable path to learning compliant manipulation from in-the-wild demonstrations. We open-source the hardware and software to facilitate broader adoption at:https://umi-ft.github.io/.
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"abstract": "Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragility of commercial force/torque (F/T) sensors have limited large-scale, force-aware policy learning. We introduce UMI-FT, a handheld data-collection platform that mounts compact, six-axis force/torque sensors on each finger, enabling finger-level wrench measurements alongside RGB, depth, and pose. Using the multimodal data collected from this device, we train an adaptive compliance policy that predicts position targets, grasp force, and stiffness for execution on standard compliance controllers. In evaluations on three contact-rich, force-sensitive tasks (whiteboard wiping, skewering zucchini, and lightbulb insertion), UMI-FT enables policies that reliably regulate external contact forces and internal grasp forces, outperforming baselines that lack compliance or force sensing. UMI-FT offers a scalable path to learning compliant manipulation from in-the-wild demonstrations. We open-source the hardware and software to facilitate broader adoption at:https://umi-ft.github.io/.",
"arxiv_id": "2601.09988",
"authors": [
"Hojung Choi",
"Yifan Hou",
"Chuer Pan",
"Seongheon Hong",
"Austin Patel",
"Xiaomeng Xu",
"Mark R. Cutkosky",
"Shuran Song"
],
"categories": [
"cs.RO"
],
"license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
"title": "In-the-Wild Compliant Manipulation with UMI-FT",
"url": "https://arxiv.org/abs/2601.09988",
"version": "v1"
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