FP2: Equipping Robotic Foundation Models with Force Control

arXiv:2609.37433 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/flexivrobotics/flexiv_tdk

Project page: http://force-policy.github.io/fp2

Terminology

• Foundation Model — 15× in this paper · explained in 3 episodes
• Robotic Foundation Model — 11× in this paper
• Adaptation — 9× in this paper · explained in 1 episode
• Generalization — 8× in this paper · explained in 13 episodes
• Foundation Models — 6× in this paper · explained in 7 episodes
• Alignment — 5× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Transformer — 4× in this paper · explained in 2 episodes
• Affordance — 3× in this paper · explained in 1 episode
• Decoupling — 3× in this paper · explained in 2 episodes
• World Model — 3× in this paper · explained in 7 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• LoRA Adaptation — 2× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Flexiv Teleoperation Development Kit — 1× in this paper
• Multimodal Reasoning — 1× in this paper · explained in 5 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• Cosmos 3: Omnimodal World Models for Physical AI
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
• Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion
• ${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities
• EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
• EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks
• RL Token: Bootstrapping Online RL with Vision-Language-Action Models
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?

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