# ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation

arXiv: https://arxiv.org/abs/2511.20887 · HTML: https://mlsanity.com/paper/2511.20887/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Nov 2025.

## Built on by (most cited first, 2 of 2)

- [Long-Horizon Manipulation via Trace-Conditioned VLA Planning](https://mlsanity.com/paper/2604.21924/) (2026)
- [Cross-Hand Latent Representation for Vision-Language-Action Models](https://mlsanity.com/paper/2603.10158/) (2026)

## Abstract (arXiv)

Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback, cross-embodiment generalization, and portable, user-friendly designs, limiting their practical deployment. To address these limitations, we introduce ACE-F, a cross embodiment foldable teleoperation system with integrated force feedback. Our approach leverages inverse kinematics (IK) combined with a carefully designed human-robot interface (HRI), enabling users to capture precise and high-quality demonstrations effortlessly. We further propose a generalized soft-controller pipeline integrating PD control and inverse dynamics to ensure robot safety and precise motion control across diverse robotic embodiments. Critically, to achieve cross-embodiment generalization of force feedback without additional sensors, we innovatively interpret end-effector positional deviations as virtual force signals, which enhance data collection and enable applications in imitation learning. Extensive teleoperation experiments confirm that ACE-F significantly simplifies the control of various robot embodiments, making dexterous manipulation tasks as intuitive as operating a computer mouse. The system is open-sourced at: https://acefoldable.github.io/