FOMO-Dex adds force-aware compliance to dexterous teleoperation for contact-rich robot tasks
HaozhiQ · x · 2026-10-16
Researchers from Amazon FAR and CMU (Haozhi Qi, Jitendra Malik, David Held, Ying Yuan) introduce FOMO-Dex, a force-modulated teleoperation system that rewrites only the contact-relevant components of a nominal action using wrist force-torque, fingertip tactile, and joint-torque sensing.
- Enables teleoperated pickup of thin cards and chips, paper cutting, bolt-nut turning, and screwdriving, with smoother contact and fewer failed grasps vs. naive compliant or stiff control
- Demonstrations collected this way also train better autonomous visuomotor policies
- Haozhi Qi notes it challenges the assumption that tasks like screwdriving are impossible to teleoperate and require simulation — well-designed low-level compliance makes them teleoperable, with Sharpa Robotics' glove as key hardware
Paper and videos are out; code coming soon.
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