FORTE: Task-Adaptive Force Capability Optimization for Mobile Manipulators

arXiv:2609.21497 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Code: https://github.com/yeying256/FORTE

Terminology

• Residual Force Polytope — 36× in this paper
• Redundancy — 22× in this paper · explained in 2 episodes
• Multi-objective Optimization — 2× in this paper · explained in 4 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Vision-Language Model — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptability — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Admittance Control — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• Safe Learning for Contact-Rich Robot Tasks: A Survey from Classical Learning-Based Methods to Safe Foundation Models
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• OmniVIC: A Self-Improving Variable Impedance Controller with Vision-Language In-Context Learning for Safe Robotic Manipulation
• PhysX-Anything: Simulation-Ready Physical 3D Assets from Single Image

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