Article

FAWAM: Force-Aware World Action Model for Closed-Loop Contact-Rich Manipulation

The authors propose FAWAM, a force-aware world action model that incorporates force information at three levels: perception, prediction, and closed-loop execution. It first encodes historical 6-axis force/torque signals to modulate action generation, then jointly predicts future actions and end-effector wrenches to explicitly model contact evolution, and uses the predicted wrench trajectory as an execution-time reference while correcting actions online with real-time force feedback. In real-world experiments across multiple contact-rich tasks, FAWAM achieved an average success rate 36.25% higher than vision-only baselines and 21.25% higher than existing force-aware baselines.

Part of the event: FAWAM: Force-Aware World Action Model Improves Success Rate in Contact Tasks

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