Contact-Rich Robotic Manipulation

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59 papers in the last four weeks, up 436% on the four weeks before. 0.6% of all new papers.

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  1. SkillWeave: Weaving Heterogeneous Demonstrations into Long-Horizon Manipulation Skills

    Oct 8, 2026Ryosei Tamura, Xiaoxiang Dong, Uksang Yoo +4Robotic ManipulationLong-Horizon Robotic Manipulation

    Robotics Institute, Carnegie Mellon University, USA. · Department of Computer Science, Keio University, Japan. · College of Engineering, University of California, Berkeley, USA. +1

  2. TACROSS: An Efficient and Low-Cost Scalable Human Touch System Across Heterogeneous Tactile Sensors for Dexterous Robot Learning

    Oct 8, 2026Bo Chen, Huanzhang Hu, Junyang Ma +11Robotic Data CollectionCross-Embodiment Robot Learning

    The University of Hong Kong · INFIFORCE · The Chinese University of Hong Kong (Shenzhen) +3

  3. OmniHOI: Dexterous Hand-Object Interaction from Monocular Human Video

    Oct 7, 2026Ting Mao, Yanming Shao, Ziheng Wang +4Robotic ManipulationHuman-Object Interaction

    Zhejiang University · The University of Hong Kong · Shanghai Jiao Tong University +1

  4. Factorized Tactile Representation and Control for Sim-to-Real Manipulation

    Oct 7, 2026Siqi Shang, Bianca Aumann, Tye Brady +2Sim-to-Real TransferTactile Sensing for Robotic Manipulation

    Amazon Fulfillment Technologies & Robotics, Westborough, MA, USA. · Department of Electrical and Computer Engineering, The University of Texas at Austin, Austin, TX, USA.

  5. OpenViTac: Learning and Benchmarking Visuo-Tactile Policies in a Unified Sim-and-Real Framework

    Oct 7, 2026Yifan Wu, Qin Li, Nan Min +14Robot Manipulation BenchmarksTactile Sensing for Robotic Manipulation

    Fudan University · Shanghai Key Laboratory of Multimodal Embodied AI · Hefei University of Technology +3

  6. TouchScale: 500 Hours of Human Vision and Touch for Visual-Tactile Learning

    Oct 7, 2026Dayou Li, Hao Wang, Qianqian Yang +23Visuo-Tactile Representation LearningContact-Rich Robotic Manipulation

    Texas A&M University · Google DeepMind · CMU +12

  7. TacHair: Tactile Contact-Distribution Guided Online Correction for Robotic Hair Stroking and Perception

    Oct 7, 2026Ruiyi Hu, Yongqiang Zhao, Daniel Bak +3Robotic ManipulationContact-Rich Robotic Manipulation

    King’s College London, London WC2R 2LS, United Kingdom

  8. RoboPace: Contact-Aware Time-Optimal Retiming for Action-Chunk Policies

    Oct 7, 2026Mimo Shirasaka, Takehiko Ohkawa, Takuya Okubo +3Robotic ManipulationContact-Rich Robotic Manipulation

    AI Robot Association (AIRoA) · The University of Tokyo

  9. Contact-Aware Imitation Learning Through Contact Factorization

    Oct 7, 2026Jiho Hong, Daeun Song, Sanghyun Kim +1Contact-Rich Robotic ManipulationImitation Learning

    Kyung Hee University · Ewha Womans University · University of Central Florida

  10. iGPC: Generative Motion Priors for Object-Aware Humanoid Interaction

    Oct 6, 2026Anujith Muraleedharan, Abdul Ahad Butt, Nolan Fey +5Contact-Rich Robotic ManipulationHumanoid Robot Control

    Mohamed bin Zayed University of Artificial Intelligence (MBZUAI), Abu Dhabi, United Arab Emirates. · Massachusetts Institute of Technology (MIT), Cambridge, MA, USA. · Minerva Humanoids, Inc.

  11. EigenDEXplore: Structured Exploration for Dexterous Manipulation with Human Priors

    Oct 6, 2026Harsh Gupta, Tyler Ga Wei Lum, Changhao Wang +4Robotic GraspingContact-Rich Robotic Manipulation

    Stanford University

  12. TacZero: Training-Free Peg Insertion Using a General-Purpose Vision-Language Model with Tactile Feedback

    Oct 6, 2026Kazutoshi TanakaZero-Shot Robotic ManipulationContact-Rich Robotic Manipulation

    OMRON SINIC X Corporation, Bunkyo-ku, Tokyo 113-0033, Japan

  13. DexForge: High-Fidelity Physics-Informed Dexterous Retargeting

    Oct 5, 2026Meizhong Wang, Kun Cao, Ruiqi Ni +2Contact-Rich Robotic ManipulationMotion Retargeting

    Tongji University · Shanghai Research Institute for Intelligent Autonomous Systems · Purdue University +1

  14. DITTO-X: Forward and Reverse Teleoperation for Dexterous Manipulation and Human Intervention

    Sep 30, 2026Zhanpeng He, Joaquin Palacios, Zhangyu Wang +5Dexterous ManipulationContact-Rich Robotic Manipulation

    Department of Computer Science, Stanford University, Stanford, CA 94305, USA. · Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA.

  15. LIBERO-Agent: Evaluating General-Purpose Agents for Direct Embodied Manipulation

    Sep 30, 2026Zijie Diao, Yitong Chen, Sicheng Xie +7Long-Horizon Robotic ManipulationContact-Rich Robotic Manipulation

    Institute of Trustworthy Embodied AI, Fudan University · Shanghai Innovation Institute

  16. What to Attend, What to Keep: Skill-Conditioned Visuotactile Representation with Progress-Guided Event Memory

    Sep 29, 2026Amir-Hossein Shahidzadeh, Seungjae Lee, Eadom Dessalene +5Contact-Rich Robotic ManipulationVisuo-Tactile Representation Learning

    Computer Science Department, University of Maryland, College Park, MD, USA

  17. Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control

    Sep 29, 2026Johannes Hechtl, Yannik Blei, Simon Ball +5Contact-Rich Robotic ManipulationForce-Controlled Robotic Manipulation

    Siemens Research and Predevelopment · Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg, Germany

  18. FP2: Equipping Robotic Foundation Models with Force Control

    Sep 29, 2026Hongjie Fang, Shirun Tang, Junjian Hu +8Robotic ControlContact-Rich Robotic Manipulation

    FORTE Lab. · Noematrix. · SJTU. +7

  19. TaRL: Learning General and Physical Rewards from Tactile Demonstrations

    Sep 29, 2026Po-Yi Wu, Dao-Jan Chang, Shang-Ya Hsiao +3RL for RoboticsContact-Rich Robotic Manipulation

    National Taiwan University

  20. Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations

    Sep 29, 2026Hyojae Park, Arjun S. Lakshmipathy, Nancy S. PollardDynamic Time WarpingDexterous Manipulation

    Computer Science Department and the 1Robotics Institute at Carnegie Mellon University, Pittsburgh, USA. · Robotics Institute at Carnegie Mellon University, Pittsburgh, USA.

  21. OTRetarget: Joint Robot and Object Motion Retargeting via Optimal Transport

    Sep 29, 2026Guillaume Besset, Erwann Carn, Timothée Carecchio +5Contact-Rich Robotic ManipulationWhole-Body Robotic Manipulation

    Inria, Département d’Informatique de l’École Normale Supérieure, PSL Research University, Paris, France

  22. HACo: Learning Haptic Active Compliance for Force-Aware Dexterous Manipulation

    Sep 29, 2026Naisheng Ye, Yinzhe Zhou, Junkai Zhao +5Contact-Rich Robotic ManipulationRobotic Manipulation

    The University of Hong Kong, Hong Kong SAR, China · Beijing Academy of Artificial Intelligence (BAAI), Beijing, China · Johns Hopkins University, Baltimore, MD, USA

  23. HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction

    Sep 28, 2026Jihwan Shin, Adrià López Escoriza, Junzhe He +2Contact-Rich Robotic ManipulationSynthetic Data Generation for Robotics

    Robotic Systems Lab, ETH Zürich, 8092 Zürich, Switzerland

  24. Unified Visual-Tactile-Action Modeling from Human Demonstrations for Dexterous Manipulation

    Sep 28, 2026Wenqiao Li, Qianyou Zhao, Jiawen Hao +5Contact-Rich Robotic ManipulationVisuo-Tactile Representation Learning

    Shanghai Jiao Tong University · Sharpa Robotics · Beijing Institute of Technology +1

  25. TacGooseBumps (TacGB): Retrofitting Normal-Only Tactile Sensors with Shear Encoding for Learning Contact-Rich Manipulation

    Sep 27, 2026Wenjie Li, Binyu Yang, Yuxin Chen +2Tactile SensingContact-Rich Robotic Manipulation

    University of California, Berkeley · Saratoga High School

  26. FINGR: Learning Dexterous Hand Control for Real-World Rubik's Cube Solving

    Sep 27, 2026Yutong Liang, Quanquan Peng, Matthew Kim +1Robotic ControlIn-Hand Manipulation

    University of California San Diego

  27. DexTaG: Tactile-as-Guidance in Reinforcement Learning for Dexterous Manipulation

    Sep 27, 2026Han Yang, Yian Wang, Yunlong Song +2Reinforcement LearningContact-Rich Robotic Manipulation

    University of Massachusetts Amherst. · Genesis AI.

  28. RAPID: Robot Agentic Programming from Demonstrations

    Sep 24, 2026Yuyao Liu, Jiayuan Mao, David Hsu +2Contact-Rich Robotic ManipulationGeneralization in Robotic Manipulation

    Massachusetts Institute of Technology · National University of Singapore · University of Pennsylvania +1

  29. Contact as a Decision Variable: Capability-Tradeoff Contact Selection for Legged Loco-Manipulation

    Sep 24, 2026Al Jaber Mahmud, Shuai Li, Xuan WangLegged RoboticsContact-Rich Robotic Manipulation

    George Mason University · University of Florida

  30. Real-Time Force Regulation for Whole-Hand Dexterous Grasping

    Sep 24, 2026Sang Min Kim, Alexander Alexiev, Tzu-Yuan Lin +3Robotic GraspingDexterous Manipulation

    Department of Electrical and Computer Engineering, Seoul National University, Seoul, Republic of Korea. · Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA. · Department of Artificial Intelligence, Yonsei University, Seoul, Republic of Korea.