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FLoRe Learns Contact Force From Handheld Demos

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FLoRe records handheld demonstrations with six-axis force sensors, then combines a diffusion policy and whole-body controller to teach a Unitree G1 contact force.

Force control Imitation Learning Diffusion policies Unitree G1 Embodied AI

Category: humanoid

Author: @LeoKharon

Date: 2026-11-14T00:00:00

Duration: 39.233s

Source: https://x.com/LeoKharon/status/2121710277351592083

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