# Hybrid Compliance Whole-Body Controller with Force Tracking

Everyday humanoid work such as pushing a cart, moving a box or wiping a surface needs controlled contact force, not just tracked hand motion. FLoRe makes force a shared interface across demonstration, policy and whole-body control: two handheld grippers with six-axis force/torque sensors record hand motion and contact wrenches without a robot, a diffusion policy predicts per-hand force commands from those demonstrations, and a whole-body controller tracks them by integrating the measured force error. On a Unitree G1 across three contact-rich tasks, the force-reactive policy succeeded in 80% of rollouts, against 26.7% for a position-only policy trained on the same demonstrations and run by the same controller.

Everyday humanoid work such as pushing a cart, moving a box or wiping a surface needs controlled contact force, not just tracked hand motion. FLoRe makes force a shared interface across demonstration, policy and whole-body control: two handheld grippers with six-axis force/torque sensors record hand motion and contact wrenches without a robot, a diffusion policy predicts per-hand force commands from those demonstrations, and a whole-body controller tracks them by integrating the measured force error. On a Unitree G1 across three contact-rich tasks, the force-reactive policy succeeded in 80% of rollouts, against 26.7% for a position-only policy trained on the same demonstrations and run by the same controller.