Abstract
Robotic foundation models (RFMs) are increasingly capable of general-purpose manipulation, yet reliable physical interaction remains challenging in contact-rich settings. We present FP2, a lightweight downstream interface that equips task-adapted RFMs with explicit force control while preserving their action-generation capability. FP2 adopts an action-regulation decomposition: the task-adapted RFM serves as a foundation policy responsible for task-level action generation, while a high-frequency force control policy focuses solely on interaction regulation. To condition force regulation on the ongoing manipulation, FP2 compresses foundation-policy contextual representations and combines them with wrench and proprioceptive histories to predict structured force-control parameters. We evaluate FP2 with four RFM backbones across four real-world contact-rich manipulation tasks. FP2 consistently improves task performance and force regulation quality over the corresponding foundation policies, while comparing favorably with representative force-aware and force-control baselines. Ablations further show that foundation-policy context and physical feedback are complementary for effective force regulation, while preserving foundation-policy action generation improves both efficiency and novel-object generalization. Project website: http://force-policy.github.io/fp2
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Cite this article
APA 7
Fang, H., Tang, S., Hu, J., Zhang, S., Zhang, D., Chen, L., Li, D., Mei, M., Liu, W., Lu, C., & Wang, S. (2026). FP2: Equipping Robotic Foundation Models with Force Control. https://omanscience.com/en/articles/fp2-equipping-robotic-foundation-models-with-force-control
MLA 9
Fang, Hongjie, et al. "FP2: Equipping Robotic Foundation Models with Force Control." https://omanscience.com/en/articles/fp2-equipping-robotic-foundation-models-with-force-control.
Chicago (author–date)
Fang, Hongjie, Shirun Tang, Junjian Hu, Shidong Zhang, Derek Zhang, Linhao Chen, Dehai Li, Mingyu Mei, Wanxi Liu, Cewu Lu, and Shiquan Wang. 2026. "FP2: Equipping Robotic Foundation Models with Force Control." https://omanscience.com/en/articles/fp2-equipping-robotic-foundation-models-with-force-control.
Harvard
Fang, H., Tang, S., Hu, J., Zhang, S., Zhang, D., Chen, L., Li, D., Mei, M., Liu, W., Lu, C. and Wang, S. (2026) 'FP2: Equipping Robotic Foundation Models with Force Control', Available at: https://omanscience.com/en/articles/fp2-equipping-robotic-foundation-models-with-force-control.
Vancouver
Fang H, Tang S, Hu J, Zhang S, Zhang D, Chen L, et al. FP2: Equipping Robotic Foundation Models with Force Control. https://omanscience.com/en/articles/fp2-equipping-robotic-foundation-models-with-force-control
IEEE
H. Fang, S. Tang, J. Hu, S. Zhang, D. Zhang, L. Chen, D. Li, M. Mei, W. Liu, C. Lu, and S. Wang, "FP2: Equipping Robotic Foundation Models with Force Control," https://omanscience.com/en/articles/fp2-equipping-robotic-foundation-models-with-force-control.