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

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/bas628o1dhb5ore6htvzm4mvf
- Original: https://arxiv.org/abs/2606.08555

## Summary

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.