ACE-F
A Cross Embodiment Foldable Teleoperation System with Integrated Force Feedback

Rui Yan*             Jiajian Fu*             Shiqi Yang*             Lars Paulsen*
Xuxin Cheng             Xiaolong Wang



Paper arXiv Code


ACE-F is a novel, foldable teleoperation platform that enables efficient collection of high-quality robot demonstration data across robot embodiments. Its specialized soft-controller pipeline interprets end-effector positional deviations as virtual force signals to provide the user with force feedback, eliminating the need for expensive sensors.

ACE-F simplifies control for a diverse array of robot platforms, making complex tasks that require dexterous manipulation highly intuitive.

Real-Time Control

Leader-follower error is transferred to the user as a real-time force.


Simulated Force Rendering

Novel force feedback design helps users sense an additional modality without expensive force sensors.



Easy-Swap Manipulators

Users can easily swap between end-effectors for any teleoperation preference.



Real-World Teleoperation



Autonomous Policies




Control Structure



Hardware Assembly Tutorial


BibTeX

            
@misc{yan2025acefcrossembodimentfoldable,
title={ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation}, 
author={Rui Yan and Jiajian Fu and Shiqi Yang and Lars Paulsen and Xuxin Cheng and Xiaolong Wang},
year={2025},
eprint={2511.20887},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2511.20887}, 
}