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💥Introducing FACTR 2, learning external force sensing on commodity robot arms without needing dedicated sensors. We show that learned force signals enable force-feedback teleop on low-cost arms and improve BC policies. FACTR 2 consists of: 1. Neural External Torque (NEXT): learns external forces without needing dedicated force sensors. 2....

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Jason Liu

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101,299 views • 5 days ago •via X (Twitter)

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Low-cost teleop systems have democratized robot data collection, but they lack any force feedback, making it challenging to teleoperate contact-rich tasks. Many robot arms provide force information — a critical yet underutilized modality in robot learning. We introduce: 1. 🦾A low-cost, force-feedback-enabled teleop system. 2. 🥊Force-Attending Curriculum Training (FACTR) uses force to improve generalization in complex, contact-rich tasks. 🧵(1/N)
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Low-cost teleop systems have democratized robot data collection, but they lack any force feedback, making it challenging to teleoperate contact-rich tasks. Many robot arms provide force information — a critical yet underutilized modality in robot learning. We introduce: 1. 🦾A low-cost, force-feedback-enabled teleop system. 2. 🥊Force-Attending Curriculum Training (FACTR) uses force to improve generalization in complex, contact-rich tasks. 🧵(1/N)

Jason Liu

151,530 views • 1 year ago

Excited to share that our work NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception has been accepted to #RSS2026! Your robot — even a low-cost one — can feel external forces without torque or tactile sensors. TL;DR: NeuralActuator is a neural actuator model that jointly predicts 1️⃣torque to capture the nonlinear and time-varying current–to–torque relationship of low-cost servos, 2️⃣external contact forces (and force detection gates) for sensorless force perception, 3️⃣and motor conditions that indicate each motor’s operating regime. Here is a fast-forward video clip ⬇️ We are also covering more robots like LeRobot-S101 and Franka Panda. More details coming soon.
1:46

Excited to share that our work NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception has been accepted to #RSS2026! Your robot — even a low-cost one — can feel external forces without torque or tactile sensors. TL;DR: NeuralActuator is a neural actuator model that jointly predicts 1️⃣torque to capture the nonlinear and time-varying current–to–torque relationship of low-cost servos, 2️⃣external contact forces (and force detection gates) for sensorless force perception, 3️⃣and motor conditions that indicate each motor’s operating regime. Here is a fast-forward video clip ⬇️ We are also covering more robots like LeRobot-S101 and Franka Panda. More details coming soon.

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What if some parts of a robot demonstration are more important than others? Most of a trajectory is free-space motion. But success or failure is often determined by a few critical moments around contact. In FACTR 2, we use force to find these moments and prioritize them for training. We find this helps policies learn better alignment and recovery behaviors, like the example below. w/ Steven Oh Jason Liu 🧵(1/N)
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What if some parts of a robot demonstration are more important than others? Most of a trajectory is free-space motion. But success or failure is often determined by a few critical moments around contact. In FACTR 2, we use force to find these moments and prioritize them for training. We find this helps policies learn better alignment and recovery behaviors, like the example below. w/ Steven Oh Jason Liu 🧵(1/N)

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We are cornered in South Africa... The only way out is an external Force from outside...
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We are cornered in South Africa... The only way out is an external Force from outside...

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Taiwan has placed its forces on alert following a show of force from China around its shores. Beijing said the military drills are a warning against "external interference".
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Taiwan has placed its forces on alert following a show of force from China around its shores. Beijing said the military drills are a warning against "external interference".

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🚨 Australian Police seem to have reached boiling point, as they ground & pound a ‘Pro Hamas’ protestor! Thoughts on the force being used here… 1. Too much force 2. Just enough force 3. Not enough force
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🚨 Australian Police seem to have reached boiling point, as they ground & pound a ‘Pro Hamas’ protestor! Thoughts on the force being used here… 1. Too much force 2. Just enough force 3. Not enough force

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In house tactile sensor prototype. Detects taps, motion, and multiple contact with force magnitudes. Built to be cheap, robust, and replaceable. Not in our demos yet, still WIP. We pair simple tactile sensing with torque transparent joints to recover rich contact without expensive sensors.
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In house tactile sensor prototype. Detects taps, motion, and multiple contact with force magnitudes. Built to be cheap, robust, and replaceable. Not in our demos yet, still WIP. We pair simple tactile sensing with torque transparent joints to recover rich contact without expensive sensors.

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Open-source dexterous hands with fingertip sensors! 🪬 ORCA Dexterity just released three dexterous hand models. Their mission: is to democratize robotic hand dexterity. They're sharing progress on exceptional, low-cost hardware and a software layer from low-level control to robotic hand learning. This is the open-source approach to dexterous manipulation. It has 83 taxels per finger with 0.1 N force detection which pretty is impressive for an open-source design. Tactile sensing is critical for dexterous manipulation, knowing contact forces enables gentle grasping, slip detection, and force-controlled assembly. Also 700g weight for the lite version makes it practical for mounting on robot arms without exceeding payload limits. Lower weight means faster movements and lower torque requirements. Open hardware accelerates robotics by letting researchers and builders modify designs for their specific needs without starting from scratch! ~~ ♻️ Join the weekly robotics newsletter, and never miss any news →

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Upper Body French Contrast Training 1. Strength Movement - high force low velocity 2. High Force Plyometric - low load high intent 3. Fast Strength Movement - ballistic 4. High Speed Plyometric - assisted / overspeed This sequence serves as a comprehensive peaking method by targeting multiple points along the force velocity spectrum within a single complex
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Upper Body French Contrast Training 1. Strength Movement - high force low velocity 2. High Force Plyometric - low load high intent 3. Fast Strength Movement - ballistic 4. High Speed Plyometric - assisted / overspeed This sequence serves as a comprehensive peaking method by targeting multiple points along the force velocity spectrum within a single complex

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[SPECIAL TASK FORCE PARADE] Vote of thanks by the KwaZulu Natal Provincial Commissioner, Lieutenant General Nhlanhla Sibusiso Mkhwanazi on the parade of new STF operators who successfully completed the Special Task Force Training #STFParade
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Canada is announcing a pay increase to Canadian Armed Forces members, benefitting the Regular Force, the Reserve Force, the Canadian Rangers, and the Cadet Organizations Administration and Training Service.
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Canada is announcing a pay increase to Canadian Armed Forces members, benefitting the Regular Force, the Reserve Force, the Canadian Rangers, and the Cadet Organizations Administration and Training Service.

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“The SOUTHCOM team rose to the challenge.” During testimony before the House Armed Services Committee today, #SOUTHCOM Commander Gen. Francis L. Donovan highlighted the critical contributions of the command and Joint Task Force Southern Spear to security and stability in the Western Hemisphere. Department of War 🇺🇸 USAWHC 🇺🇸 Air Forces Southern U.S. Marine Corps Forces, South USNAVSO_4THFLT Joint Task Force-Bravo SOCSOUTH Joint Interagency Task Force South

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French Contrast Training Strength Movement - high force low velocity High Force Plyometric - low load high intent Fast Strength Movement - ballistic High Speed Plyometric - overspeed (pushes nervous system into velocities faster than possible without assistance improving rate of force development) This sequence serves as a comprehensive peaking method by targeting multiple points along the force velocity spectrum within a single complex
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French Contrast Training Strength Movement - high force low velocity High Force Plyometric - low load high intent Fast Strength Movement - ballistic High Speed Plyometric - overspeed (pushes nervous system into velocities faster than possible without assistance improving rate of force development) This sequence serves as a comprehensive peaking method by targeting multiple points along the force velocity spectrum within a single complex

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WATCH: From April 17 to May 4, the air forces of China and Egypt held the first “Eagles of Civilization-2025” joint training at an Egyptian air force base. The Chinese Air Force dispatched J-10C, KJ-500 and YY-20 aircraft to participate. It was the first time that China sent force packages to Africa for joint training, said Chinese Defense Ministry spokesperson Zhang Xiaogang. (Video: Chinese Defense Ministry)

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Another Memorial 2 Memorial ride complete! More than 260 cyclists biked 340 miles from the Wright Brothers Memorial to the Air Force Memorial. During this trek athletes celebrated Air Force heritage, fitness & unity in the profession of arms.
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Another Memorial 2 Memorial ride complete! More than 260 cyclists biked 340 miles from the Wright Brothers Memorial to the Air Force Memorial. During this trek athletes celebrated Air Force heritage, fitness & unity in the profession of arms.

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The U.S. Air Force and United States Space Force accomplished a lot during President Donald J. Trump’s first year in office! Throughout the next year we will continue to modernize our force, deter our adversaries, defend the homeland, and ensure #PeaceThroughStrength!

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Pilots experiencing 9G force during training 😳🤯
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Pilots experiencing 9G force during training 😳🤯

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The Figen A US Air Force pilot training for high G-force to fly a fighter jet
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The Figen A US Air Force pilot training for high G-force to fly a fighter jet

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