Active Vision for Robot Manipulation

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8 papers in the last four weeks, against 1 the four weeks before. 0.1% of all new papers.

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Reactive Exploration of Unknown Environments for Redundant Robots using Virtual Model Control
Oct 6, 2026Alessio Canzolino, Omar Faris, Alessandro De Blasi +1Active Vision for Robot Manipulation Robotics
Department of Electrical, Electronic, and Information Engineering “Guglielmo Marconi”, University of Bologna, Italy · Department of Engineering, University of Cambridge, UK.
ActiveWAM: Evidence-Aware Active Vision for World-Action Models
Oct 1, 2026Renjun Wu, Luzhou Ge, Xuesong LiActive Vision for Robot Manipulation Multi-Task Robotic Manipulation
Beijing Institute of Technology
Beyond the Current Scene: Event-Referential Grasping with Active View Selection
Sep 30, 2026Hyunjoon Lee, Haebeom Jung, Eunsung Cha +4Robotic Grasping Language-Conditioned Robot Manipulation
Seoul National University · NVIDIA
Recovering the View: Benchmarking Physical Active Vision for Occlusion Recovery in Robotic Manipulation
Sep 29, 2026Kaijun Luo, Yudi Huang, Qijun Zhong +3Bimanual Robotic Manipulation Active Vision for Robot Manipulation
Sun Yat-sen University · University of Electronic Science and Technology of China · X-Era AI Lab +1
Learning to Explore Hidden Kinematics for Articulated Object Manipulation
Sep 29, 2026Ruiyao Liu, Boshu Lei, Zhuoyang Pan +1RL for Robotics Active Perception
GRASP Lab, University of Pennsylvania, Philadelphia, PA 19104, USA
From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments
Sep 24, 2026Shilin Ma, Chubin Zhang, Xulong Bai +3Long-Horizon Robotic Manipulation Active Vision for Robot Manipulation
Tsinghua Shenzhen International Graduate School, Tsinghua University
Imagine then Verify: Affordance-Targeted Active Perception for Task-Oriented Grasping in Cluttered Scenes
Sep 20, 2026Jingzhi Cui, Xuefeng Liu, Feng Han +3Robotic Grasping Next-Best-View Planning
School of Computer Science and Engineering, Beihang University, Beijing, China · School of Artificial Intelligence, Beihang University, Beijing, China
ActiveScale: Scaling Active Perception for Robots across Model, Data, and Hardware
Sep 16, 2026Shuai Zhou, Kaisheng Pang, Wenxuan Song +3Active Vision for Robot Manipulation Robotic Manipulation
Robotics Institute, Carnegie Mellon University · The Hong Kong University of Science and Technology (Guangzhou)
Autonomous Precision Milling of Biological Structures via Generic Anatomical Priors and Active Boundary Perception
Sep 14, 2026Enduo Zhao, Xiaofeng Lin, Yifan Wang +4Active Vision for Robot Manipulation Robotic Manipulation
Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan · School of Biomedical Engineering, Tsinghua University, Beijing, China · Center for Disease Biology and Integrative Medicine, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan +2
PhysCaP: Grounding Code-as-Policy Agent with Physics-Informed Exploration
Aug 21, 2026Chen-Yu Lin, Jing-Wen Chen, Hsueh-En Chang +8Physical Reasoning Active Vision for Robot Manipulation
National Taiwan University · NVIDIA Research · National Yang Ming Chiao Tung University
ActiveMimic: Egocentric Video Pretraining with Active Perception
Jun 4, 2026Xingyao Lin, Guojin Zhong, Tianyi Lu +4Active Perception Active Vision for Robot Manipulation
Fudan University · Shanghai Innovation Institute · Current Robotics +1
Behavior Cloning for Active Perception with Low-Resolution Egocentric Vision
May 13, 2026Anthony Bilic, Chen Chen, Ladislau BölöniActive Vision for Robot Manipulation Active Sensing
Department of Computer Science, University of Central Florida, Orlando, FL, USA
TAVIS: A Benchmark for Egocentric Active Vision and Anticipatory Gaze in Imitation Learning
May 8, 2026Giacomo SpiglerActive Vision for Robot Manipulation Active Sensing
Department of Intelligent Systems Tilburg University Netherlands

Oct 6, 2026, cs.ROJ/K move · Enter open · S save

Reactive Exploration of Unknown Environments for Redundant Robots using Virtual Model Control

Alessio Canzolino, Omar Faris, Alessandro De Blasi, Fulvio Forni

Department of Electrical, Electronic, and Information Engineering “Guglielmo Marconi”, University of Bologna, Italy · Department of Engineering, University of Cambridge, UK.

Active Vision for Robot Manipulation Robotics Robotic Manipulation

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The exploration of confined, occluded, and partially known spaces poses significant challenges in robotic manipulation. The overall pose of the robotic arm must be carefully controlled to respect tight geometric constraints while avoiding newly discovered obstacles. We address this problem by proposing an active exploration approach for redundant robotic arms with an eye-in-hand camera configuration. Our approach navigates and acquires information in real-time based on a novel scoring method that directly selects a target voxel from the unexplored space using the robot's current state and expected information gain. To move the robot safely toward the target voxel, we utilize Virtual Model Control, which guarantees compliance and enables whole-body reactive obstacle avoidance without the need for path replanning. Simulated and real-robot experiments in both confined and open environments demonstrate the effectiveness of our approach, achieving over

90\%

mapping coverage across all tested environments in under

120

seconds without colliding with obstacles.

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