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This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning.
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An image is worth 16x16 words: Transformers for image recognition at scale, 2021
A. Dosovitskiy, L. Beyer, A. Kolesnikov, D. Weissenborn, X. Zhai, T. Unterthiner, M. Dehghani, M. Minderer, G. Heigold, S. Gelly, J. Uszkoreit, and N. Houlsby · 2010
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S. Ross, G. Gordon, and D. Bagnell · 2011
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S. Levine and V. Koltun · 2013
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M. A. McEvoy and N. Correll · 2015
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D. Hughes and N. Correll · 2015
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Attention is all you need
A. Vaswani, N. Shazeer, N. Parmar, J. Uszkoreit, L. Jones, A. N. Gomez, Ł. Kaiser, and I. Polosukhin · 2017
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Soft robotics: Review of fluid-driven intrinsically soft devices; manufacturing, sensing, control, and applications in human-robot interaction
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R. Patel, J. C. Alastuey, and N. Correll · 2017
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Gelsight: High-resolution robot tactile sensors for estimating geometry and force
W. Yuan, S. Dong, and E. H. Adelson · 2017
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Will robots be bodies with brains or brains with bodies?
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Proprioception
J. C. Tuthill and E. Azim · 2018
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Admittance control for physical human–robot interaction
A. Q. Keemink, H. Van der Kooij, and A. H. Stienen · 2018
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A robotic skin for collision avoidance and affective touch recognition
D. Hughes, J. Lammie, and N. Correll · 2018
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Recent progress in tactile sensing and sensors for robotic manipulation: can we turn tactile sensing into vision?
A. Yamaguchi and C. G. Atkeson · 2019
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M. A. Lee, Y. Zhu, K. Srinivasan, P. Shah, S. Savarese, L. Fei-Fei, A. Garg, and J. Bohg · 2019
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Autonomous industrial assembly using force, torque, and rgb-d sensing
J. Watson, A. Miller, and N. Correll · 2020
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Variable impedance control and learning—a review
F. J. Abu-Dakka and M. Saveriano · 2020
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Secondary endings of muscle spindles: Structure, reflex action, role in motor control and proprioception
R. W. Banks, P. H. Ellaway, A. Prochazka, and U. Proske · 2021
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Learning variable impedance control via inverse reinforcement learning for force-related tasks
X. Zhang, L. Sun, Z. Kuang, and M. Tomizuka · 2021
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Decision transformer: Reinforcement learning via sequence modeling
L. Chen, K. Lu, A. Rajeswaran, K. Lee, A. Grover, M. Laskin, P. Abbeel, A. Srinivas, and I. Mordatch · 2021
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Offline reinforcement learning as one big sequence modeling problem
M. Janner, Q. Li, and S. Levine · 2021
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Mt-opt: Continuous multi-task robotic reinforcement learning at scale
D. Kalashnikov, J. Varley, Y. Chebotar, B. Swanson, R. Jonschkowski, C. Finn, S. Levine, and K. Hausman · 2021
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Introduction to autonomous robots: mechanisms, sensors, actuators, and algorithms
N. Correll, B. Hayes, C. Heckman, and A. Roncone · 2022
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Hierarchical text-conditional image generation with clip latents
A. Ramesh, P. Dhariwal, A. Nichol, C. Chu, and M. Chen · 2022
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Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor, Dec. 2024
T. Ablett, O. Limoyo, A. Sigal, A. Jilani, J. Kelly, K. Siddiqi, F. Hogan, and G. Dudek · 2024
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Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation, Oct. 2024
M. Aburub, C. C. Beltran-Hernandez, T. Kamijo, and M. Hamaya · 2024
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FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation, Nov. 2024
Z. He, H. Fang, J. Chen, H.-S. Fang, and C. Lu · 2024
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Adaptive compliance policy: Learning approximate compliance for diffusion guided control, 2024
Y. Hou, Z. Liu, C. Chi, E. Cousineau, N. Kuppuswamy, S. Feng, B. Burchfiel, and S. Song · 2024
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High-resolution image synthesis with latent diffusion models
R. Rombach, A. Blattmann, D. Lorenz, P. Esser, and B. Ommer · 2022
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Planning with diffusion for flexible behavior synthesis
M. Janner, Y. Du, J. B. Tenenbaum, and S. Levine · 2022
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Flow matching for generative modeling
Y. Lipman, R. T. Chen, H. Ben-Hamu, M. Nickel, and M. Le · 2022
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Do as i can, not as i say: Grounding language in robotic affordances
M. Ahn, A. Brohan, N. Brown, Y. Chebotar, O. Cortes, B. David, C. Finn, C. Fu, K. Gopalakrishnan, K. Hausman, et al · 2022
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Bc-z: Zero-shot task generalization with robotic imitation learning
E. Jang, A. Irpan, M. Khansari, D. Kappler, F. Ebert, C. Lynch, S. Levine, and C. Finn · 2022
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Behavior transformers: Cloning k k modes with one stone, 2022
N. M. M. Shafiullah, Z. J. Cui, A. Altanzaya, and L. Pinto · 2022
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A Survey of Robot Manipulation in Contact
M. Suomalainen, Y. Karayiannidis, and V. Kyrki · 2022
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3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
B. Huang, Y. Wang, X. Yang, Y. Luo, and Y. Li · 2024
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M. Kobayashi, T. Buamanee, and T. Kobayashi · 2024
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Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks, Oct. 2024
J. Lenz, T. Gruner, D. Palenicek, T. Schneider, and J. Peters · 2024
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Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation, May 2024
J. Mejia, V. Dean, T. Hellebrekers, and A. Gupta · 2024
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FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty, Aug. 2024
M. Noseworthy, B. Tang, B. Wen, A. Handa, N. Roy, D. Fox, F. Ramos, Y. Narang, and I. Akinola · 2024
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B. Romero, H.-S. Fang, P. Agrawal, and E. Adelson · 2024
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Poco: Policy composition from and for heterogeneous robot learning, 2024
L. Wang, J. Zhao, Y. Du, E. H. Adelson, and R. Tedrake · 2024
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TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation, Sept. 2024
Y. Wu, Z. Chen, F. Wu, L. Chen, L. Zhang, Z. Bing, A. Swikir, A. Knoll, and S. Haddadin · 2024
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UniT: Unified Tactile Representation for Robot Learning, Aug. 2024
Z. Xu, R. Uppuluri, X. Zhang, C. Fitch, P. G. Crandall, W. Shou, D. Wang, and Y. She · 2024
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K. Yu, Y. Han, Q. Wang, V. Saxena, D. Xu, and Y. Zhao · 2024
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J. Zhao, Y. Ma, L. Wang, and E. H. Adelson · 2024
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Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations, Nov. 2024
B. Zhou, R. Jiao, Y. Li, X. Yuan, F. Fang, and S. Li · 2024
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Versatile Demonstration Interface: Toward More Flexible Robot Demonstration Collection, Oct. 2024
M. Hagenow, D. Kontogiorgos, Y. Wang, and J. Shah · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots, 2024
C. Chi, Z. Xu, C. Pan, E. Cousineau, B. Burchfiel, S. Feng, R. Tedrake, and S. Song · 2024
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Robot fleet learning via policy merging, 2024
L. Wang, K. Zhang, A. Zhou, M. Simchowitz, and R. Tedrake · 2024
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Anyskin: Plug-and-play skin sensing for robotic touch, 2024
R. Bhirangi, V. Pattabiraman, E. Erciyes, Y. Cao, T. Hellebrekers, and L. Pinto · 2024
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Meta-control: Automatic model-based control synthesis for heterogeneous robot skills
T. Wei, L. Ma, R. Chen, W. Zhao, and C. Liu · 2024
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World population prospects: Probabilistic projections - total population, 2024
United Nations, Department of Economic and Social Affairs, Population Division · 2025
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Proprioception and motor control, 2025
R. Johansson · 2025
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Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
J. Wen, Y. Zhu, J. Li, M. Zhu, Z. Tang, K. Wu, Z. Xu, N. Liu, R. Cheng, C. Shen, et al · 2025
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Data scaling laws in imitation learning for robotic manipulation, 2025
F. Lin, Y. Hu, P. Sheng, C. Wen, J. You, and Y. Gao · 2025
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C. Chen, Z. Yu, H. Choi, M. Cutkosky, and J. Bohg · 2025
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Factr: Force-attending curriculum training for contact-rich policy learning, 2025
J. J. Liu, Y. Li, K. Shaw, T. Tao, R. Salakhutdinov, and D. Pathak · 2025
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Few-shot sim2real based on high fidelity rendering with force feedback teleoperation, 2025
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Dexteritygen: Foundation controller for unprecedented dexterity
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