Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data

ArXi:2510.02738v3 Announce Type: replace-cross While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most visuomotor policies ignore compliance, overlooking the importance of physical interaction with the real world, often leading to excessive contact forces or fragile behavior under uncertainty.