الملخص
Contact-rich manipulation depends on force sensing that is hard to infer from visual signals alone, both for collecting demonstrations and for training policies. Force-annotated data, however, remains hard to obtain at scale: real-robot collection ties every demonstration to physical hardware, physics simulators report contact forces that deviate systematically from real measurements, and learned world simulators, though scalable and realistic, are vision-only, so operators feel nothing during data collection and the data carries no force/torque (F/T) labels. We present HapticWorld, an interactive world simulator that predicts joint torque together with observations and renders it back to the operator in real time, closing the haptic loop between a human and a learned world model. Across three contact-rich tasks, torque feedback raises data collection throughput by 1.6 times on average. Policies trained on HapticWorld-generated demonstrations succeed in 54/60 real-world trials, approaching the 56/60 upper bound of real-world data, and far exceeding the 19/60 success rate of the vision-only baseline. Moreover, the success rates measured inside HapticWorld closely match real-world evaluation, demonstrating that HapticWorld can serve as a stand-alone F/T-conditioned policy evaluation platform.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Peng, S., Liang, L., Wang, Y., Yang, M., Driggs-Campbell, K., Cutkosky, M., & Xu, J. J. (2026). HapticWorld: an Interactive World Simulator with Real-time Torque Feedback. https://omanscience.com/ar/articles/hapticworld-an-interactive-world-simulator-with-real-time-torque-feedback
MLA 9
Peng, Shaoting, et al. "HapticWorld: an Interactive World Simulator with Real-time Torque Feedback." https://omanscience.com/ar/articles/hapticworld-an-interactive-world-simulator-with-real-time-torque-feedback.
شيكاغو (المؤلف–التاريخ)
Peng, Shaoting, Litian Liang, Yixuan Wang, Ming Yang, Katherine Driggs-Campbell, Mark Cutkosky, and James Jingxi Xu. 2026. "HapticWorld: an Interactive World Simulator with Real-time Torque Feedback." https://omanscience.com/ar/articles/hapticworld-an-interactive-world-simulator-with-real-time-torque-feedback.
هارفارد
Peng, S., Liang, L., Wang, Y., Yang, M., Driggs-Campbell, K., Cutkosky, M. and Xu, J. J. (2026) 'HapticWorld: an Interactive World Simulator with Real-time Torque Feedback', Available at: https://omanscience.com/ar/articles/hapticworld-an-interactive-world-simulator-with-real-time-torque-feedback.
فانكوفر
Peng S, Liang L, Wang Y, Yang M, Driggs-Campbell K, Cutkosky M, et al. HapticWorld: an Interactive World Simulator with Real-time Torque Feedback. https://omanscience.com/ar/articles/hapticworld-an-interactive-world-simulator-with-real-time-torque-feedback
IEEE
S. Peng, L. Liang, Y. Wang, M. Yang, K. Driggs-Campbell, M. Cutkosky, and J. J. Xu, "HapticWorld: an Interactive World Simulator with Real-time Torque Feedback," https://omanscience.com/ar/articles/hapticworld-an-interactive-world-simulator-with-real-time-torque-feedback.