{"id":"https://openalex.org/W7164381173","doi":"https://doi.org/10.48550/arxiv.2606.12406","title":"FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning","display_name":"FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning","publication_year":2026,"publication_date":"2026-06-10","ids":{"openalex":"https://openalex.org/W7164381173","doi":"https://doi.org/10.48550/arxiv.2606.12406"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.12406","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.12406","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":null,"license_id":null,"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.2606.12406","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125479379","display_name":"Steven Oh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oh, Steven","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101968036","display_name":"Jason Liu","orcid":"https://orcid.org/0000-0002-1864-8281"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Jason Jingzhou","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138418377","display_name":"Tony Tao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao, Tony","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138421718","display_name":"Philip Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Philip","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138450283","display_name":"Kenneth Shaw","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shaw, Kenneth","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085522265","display_name":"Satoshi Funabashi","orcid":"https://orcid.org/0000-0002-6381-3522"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Funabashi, Satoshi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138466523","display_name":"Ruslan Salakhutdinov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Salakhutdinov, Ruslan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138443845","display_name":"Deepak Pathak","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pathak, Deepak","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":0.7961000204086304,"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":0.7961000204086304,"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":0.12780000269412994,"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":0.029999999329447746,"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/teleoperation","display_name":"Teleoperation","score":0.7932000160217285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.649399995803833},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6018999814987183},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.572700023651123},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4722000062465668},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.38119998574256897},{"id":"https://openalex.org/keywords/policy-learning","display_name":"Policy learning","score":0.37369999289512634},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.3646000027656555}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7932000160217285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.649399995803833},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6018999814987183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5745000243186951},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.572700023651123},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4722000062465668},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4717999994754791},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3889000117778778},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.38119998574256897},{"id":"https://openalex.org/C2779436431","wikidata":"https://www.wikidata.org/wiki/Q30672407","display_name":"Policy learning","level":2,"score":0.37369999289512634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3666999936103821},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3646000027656555},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.33009999990463257},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.328900009393692},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3131999969482422},{"id":"https://openalex.org/C190839683","wikidata":"https://www.wikidata.org/wiki/Q2448197","display_name":"Train","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.30169999599456787},{"id":"https://openalex.org/C10431821","wikidata":"https://www.wikidata.org/wiki/Q6510174","display_name":"Learning effect","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2644999921321869},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.2630000114440918},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2547000050544739}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.12406","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.12406","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.12406","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.12406","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","score":0.42314451932907104,"display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Contact-rich":[0],"manipulation":[1],"requires":[2],"force":[3,11,37],"sensitivity,":[4],"but":[5],"many":[6],"robot":[7],"arms":[8,65],"lack":[9],"dedicated":[10,36,56],"sensors":[12],"due":[13],"to":[14,55,109],"their":[15],"high":[16],"cost.":[17],"We":[18],"present":[19],"Neural":[20],"External":[21],"Torque":[22],"Estimation":[23],"(NEXT),":[24],"a":[25],"data-driven":[26],"method":[27],"that":[28],"estimates":[29,53],"external":[30],"joint":[31],"torques":[32],"without":[33,112],"needing":[34],"any":[35],"sensors.":[38,58],"NEXT":[39,59,100],"trains":[40],"in":[41,96],"1":[42],"minute":[43],"from":[44],"only":[45],"10":[46],"minutes":[47],"of":[48],"free-motion":[49],"data,":[50],"yet":[51],"achieves":[52],"comparable":[54],"joint-torque":[57],"enables":[60],"force-feedback":[61],"teleoperation":[62,105],"on":[63],"low-cost":[64],"and":[66,78,101,106,118],"improves":[67],"policy":[68,107],"learning":[69,108],"through":[70],"Force-Informed":[71],"Re-Sampling":[72],"Training":[73],"(FIRST),":[74],"which":[75],"up-samples":[76],"pre-contact":[77],"contact":[79],"segments":[80],"during":[81],"behavior":[82],"cloning.":[83],"Across":[84],"five":[85],"long-horizon":[86],"tasks,":[87],"FIRST":[88,102],"outperforms":[89],"prior":[90],"force-aware":[91,104],"policies":[92],"by":[93],"over":[94],"17%":[95],"task":[97],"progress.":[98],"Together,":[99],"bring":[103],"off-the-shelf":[110],"robots":[111],"additional":[113],"sensing":[114],"hardware.":[115],"Video":[116],"results":[117],"code":[119],"are":[120],"available":[121],"at":[122],"https://jasonjzliu.com/factr2":[123]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-12T00:00:00"}
