Contact-Rich Manipulation

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  1. Intent-guided Adaptive Stiffening for Visuomotor Policies under Unknown Resistance

    Oct 13, 2026Francesco Cufino, Carmela Mariniello, Mario Selvaggio +2Robotic ControlRobotic Manipulation

    PRISMA Lab, Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy. · The University of Edinburgh, Edinburgh, UK.

  2. Ostrich: Taking Large Strides Through Stiff Contact in Differentiable Dynamics

    Sep 8, 2026Aleš Kučera, Karel ZimmermannTrajectory OptimizationContact-Rich Manipulation

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic

  3. EgoTac: In-the-wild Tactile Prediction from Egocentric Vision

    Aug 15, 2026Wenkang Zhang, Chengbo Yuan, Zicheng Zhang +2Robotic Tactile SensingContact-Rich Manipulation

    Shanghai Qi Zhi Institute · Shanghai Jiao Tong University · Tsinghua University +1

  4. FeelWorld: Visuo-Tactile World Model for Hierarchical Contact Prediction and Planning

    Jul 27, 2026Wenxuan Ma, Chaofan Zhang, Chao Xue +4Contact-Rich ManipulationWorld Models for Robotics

    Institute of Automation, Chinese Academy of Sciences · Imprintx Robotics · Beijing Academy of Artificial Intelligence

  5. Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator

    Jun 4, 2026Joel Ramadani, Vasilije Rakčević, Riddhiman Laha +4Contact-Rich ManipulationNon-Prehensile Manipulation

    Technical University of Munich · Technical University of Munich, Munich, Germany. · DLR Oberpfaffenhofen +3

  6. Compliant Non-Prehensile Pushing Manipulation

    May 25, 2026Francesco Cufino, Mario Selvaggio, Fabio Amadio +1Contact-Rich ManipulationNon-Prehensile Manipulation

    The authors are with the PRISMA Lab, department of Electrical Engineering and Information Technology of the University of Naples Federico II, Via Claudio, 21, Naples, 80125, Italy. · The author is with Inria, CNRS, Université de Lorraine, Nancy, 54000, France (work carried out while at the ABB Corporate Research Center, Västerås, 72226, Sweden).

  7. Optimal Knock-Pick Planning for Tightly Packed Tabletop Blocks With Parallel Grippers

    May 18, 2026Hao Lu, Rahul ShomeContact-Rich ManipulationNon-Prehensile Manipulation

    School of Computing

  8. On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control

    May 5, 2026Sergio A. Esteban, Junheng Li, Vince Kurtz +1Domain RandomizationContact-Rich Manipulation

    Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA · School of Computing, DePaul University, Chicago, IL, USA

  9. Spectral Decomposition of Inverse Dynamics for Fast Exploration in Model-Based Manipulation

    Mar 29, 2026Solvin Sigurdson, Benjamin Riviere, Joel BurdickLong-Horizon Robotic ManipulationMotion Planning

    Department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA 91125, USA · Department of Mechanical and Aerospace Engineering and the Department of Computer Science, New York University, New York City, NY 10012, USA

  10. LDHP: Library-Driven Hierarchical Planning for Non-prehensile Dexterous Manipulation

    Mar 14, 2026Tierui He, Jiahui Zuo, Fumin Zhang +1Contact-Rich ManipulationRobotic Grasping

    Shanghai Marine Equipment Research Institute, Shanghai 200031, China. · J. Zuo and F. Zhang are with The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong. · C. Zhao is with Jilin University, Changchun, China.

  11. Where to Touch, How to Contact: A Hierarchical RL-MPC Framework for Geometry-Aware Sim-to-Real Manipulation

    Jan 16, 2026Zhixian Xie, Yu Xiang, Michael Posa +1Contact-Rich ManipulationNon-Prehensile Manipulation

    Arizona State University · University of Texas at Dallas · University of Pennsylvania

  12. Model-Based Adaptive Precision Control for Tabletop Planar Pushing Under Uncertain Dynamics

    Oct 4, 2025Aydin Ahmadi, Baris AkgunContact-Rich ManipulationNon-Prehensile Manipulation

    Computer Engineering Department, Ko¸c University, Rumelifeneri Yolu, Istanbul, 34450, Istanbul, Turkey.