ForceFlow improves success rates by 37% on six real-world contact-rich tasks over ForceVLA by treating force as a global regulatory signal in a flow-matching policy with hierarchical vision-to-force decomposition.
2025 IEEE International Conference on Robotics and Automation (ICRA) , pages=
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ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching
ForceFlow improves success rates by 37% on six real-world contact-rich tasks over ForceVLA by treating force as a global regulatory signal in a flow-matching policy with hierarchical vision-to-force decomposition.