{"id":"https://openalex.org/W7163998684","doi":"https://doi.org/10.48550/arxiv.2606.08555","title":"FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation","display_name":"FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation","publication_year":2026,"publication_date":"2026-06-07","ids":{"openalex":"https://openalex.org/W7163998684","doi":"https://doi.org/10.48550/arxiv.2606.08555"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.08555","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08555","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.08555","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056317540","display_name":"Haotian He","orcid":"https://orcid.org/0000-0002-8611-3932"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Haotian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115605055","display_name":"Zeyu Yan","orcid":"https://orcid.org/0009-0008-7236-8222"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Zeyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138273688","display_name":"Qipeng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Qipeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138276549","display_name":"Ning Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Ning","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138242694","display_name":"Wenzhao Lian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lian, Wenzhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.004000000189989805,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.0026000000070780516,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.8967999815940857},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6654999852180481},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5602999925613403},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.4677000045776367},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41359999775886536},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3601999878883362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35920000076293945}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8967999815940857},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6654999852180481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6347000002861023},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5602999925613403},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.4677000045776367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4226999878883362},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41359999775886536},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3601999878883362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35920000076293945},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.34700000286102295},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3343000113964081},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3301999866962433},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.321399986743927},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3183000087738037},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.31619998812675476},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C113336015","wikidata":"https://www.wikidata.org/wiki/Q574010","display_name":"Complete information","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2838999927043915}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.08555","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08555","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.08555","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08555","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Force":[0],"signals":[1,65],"provide":[2],"critical":[3],"interaction":[4,29],"cues":[5],"for":[6,141],"contact-rich":[7,113,143],"robotic":[8],"manipulation.":[9,144],"However,":[10],"existing":[11,131],"methods":[12],"mostly":[13],"use":[14],"force":[15,49,107],"as":[16,96],"an":[17,97],"additional":[18],"observation":[19],"modality,":[20],"without":[21],"fully":[22],"exploiting":[23],"its":[24],"role":[25],"in":[26],"modeling":[27],"future":[28,73],"dynamics":[30],"or":[31],"guiding":[32],"execution-time":[33,98],"feedback":[34],"correction.":[35],"In":[36],"this":[37],"paper,":[38],"we":[39],"propose":[40],"FAWAM,":[41],"a":[42,86],"force-aware":[43,132,139],"world":[44],"action":[45,68],"model":[46,80],"that":[47,90,116],"incorporates":[48],"information":[50],"at":[51],"three":[52],"levels:":[53],"perception,":[54],"prediction,":[55],"and":[56,75,128],"closed-loop":[57],"execution.":[58],"FAWAM":[59,117],"first":[60],"encodes":[61],"historical":[62],"6-axis":[63],"force/torque":[64],"to":[66,78,100],"modulate":[67],"generation,":[69],"then":[70],"jointly":[71],"predicts":[72],"actions":[74,102],"end-effector":[76],"wrenches":[77],"explicitly":[79],"contact":[81],"evolution.":[82],"It":[83],"further":[84],"introduces":[85],"residual":[87],"correction":[88],"module":[89],"uses":[91],"the":[92,119,135],"predicted":[93],"wrench":[94],"trajectory":[95],"reference":[99],"refine":[101],"online":[103],"based":[104],"on":[105],"real-time":[106],"feedback.":[108],"Real-world":[109],"experiments":[110],"across":[111],"multiple":[112],"tasks":[114],"show":[115],"improves":[118],"average":[120],"success":[121],"rate":[122],"by":[123],"36.25%":[124],"over":[125,130],"vision-only":[126],"baselines":[127],"21.25%":[129],"baselines,":[133],"demonstrating":[134],"effectiveness":[136],"of":[137],"our":[138],"framework":[140],"robust":[142]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-10T00:00:00"}
