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. Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation

    Sep 24, 2026Mariia Iavorskaia, Christian Dietz, Sebastian Albrecht +1Contact-Rich Robotic ManipulationHuman-in-the-Loop AI

    Siemens AG, Research and Predevelopment, Germany. · Technical University of Munich, Germany.

  2. PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation

    Sep 24, 2026Conor W. Hayes, Rickmer Krohn, Aravind Ramaswami +6Contact-Rich Robotic ManipulationRobotic Data Collection

    Center for Robotics and Biosystems, Northwestern Univ., Evanston, IL, USA · Interactive Robot Perception & Learning (PEARL) Lab, TU Darmstadt, Germany · Robotics Institute Germany (RIG)

  3. CALM: Current Aligned Link Manipulation for Single Arm Oversized Object Lifting

    Sep 24, 2026Jun Hu, Sihan Chen, Kosta Jovanovic +4Long-Horizon Robotic ManipulationContact-Rich Robotic Manipulation

    School of Advanced Engineering, Great Bay University, Dongguan, Guangdong, China · Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China · School of Computing and Data Science, The University of Hong Kong, Hong Kong SAR, China +2

  4. TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation

    Sep 23, 2026Zhaofeng Luo, Xinyu Lu, Jaehoon Choi +10Contact-Rich Robotic ManipulationRobotics Simulation

    Carnegie Mellon University · Genesis AI

  5. Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy

    Sep 23, 2026Tara Sadjadpour, Siming He, C. K. Wolfe +5Zero-Shot Robotic ManipulationContact-Rich Robotic Manipulation

    Department of Electrical Engineering and Computer Science at the University of California, Berkeley, CA, USA

  6. VisForce: Visual Grounding of Current and Desired Forces for Goal-Conditioned Dexterous Manipulation

    Sep 22, 2026Jung-Woo Lee, Soo-Chul LimContact-Rich Robotic ManipulationRobotic Manipulation

  7. Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation

    Sep 22, 2026Juahn Oh, Dongho Yee, Jinseok Lee +9Contact-Rich Robotic ManipulationRobotics Simulation

    Department of Transdisciplinary Medicine, Seoul National University Hospital, Seoul, Republic of Korea. · Rosota Inc., Seoul, Republic of Korea. · Eulji University College of Medicine, Daejeon, Republic of Korea. +6

  8. PAKT: Physically-Aligned Kinesthetic Teaching for Reinforcement Learning

    Sep 22, 2026Lars Johannsmeier, Yashraj NarangRobotic ControlRL for Robotics

    NVIDIA

  9. Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation

    Sep 22, 2026Sunyu Wang, Jean Oh, Nancy S. PollardDexterous ManipulationContact-Rich Robotic Manipulation

    The authors are with the Robotics Institute at Carnegie Mellon University, Pittsburgh, USA.

  10. DexTacWAM: A Visuo-Tactile World-Action Model for Dexterous Manipulation

    Sep 21, 2026Haoran Yuan, Zekai Wang, Boning Shao +4World Models for RoboticsContact-Rich Robotic Manipulation

    University of Illinois Urbana-Champaign · University of California, Berkeley · Northwestern University

  11. Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface

    Sep 21, 2026Andrew Nguyen, Yonghyeon Lee, Sangbae KimRobotic GraspingContact-Rich Robotic Manipulation

    University of Michigan, Ann Arbor, MI, USA. · Department of Mechanical Engineering, MIT, Cambridge, MA, USA. · Department of AI, Yonsei University, Seoul, South Korea.

  12. InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality

    Sep 21, 2026Zhenghua Ma, Xinpan Meng, Zeyu Liu +4RL for RoboticsContact-Rich Robotic Manipulation

    School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China, and the State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · PaXini AI Technology (Beijing) Co., Ltd., Beijing 100080, China

  13. TACIT: Tactile Contact Supervision for Spatial Attention in Dexterous Manipulation

    Sep 21, 2026Yanhou Lai, Fucai Zhu, Ruiqiang Wang +1Contact-Rich Robotic ManipulationRobot Imitation Learning

    Graduate School of Information Sciences, Tohoku University, Sendai 980-8579, Japan

  14. Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation

    Sep 21, 2026Fukang Liu, Yipu Chen, Jaehwi Jang +3Contact-Rich Robotic ManipulationHumanoid Robot Control

    Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA

  15. HapticWAM: Distilling Imagined Touch into a World-Action Model without Inference-Time Tactile Sensing

    Sep 20, 2026Mikhail Sannikov, Ilya Mikhalchuk, Konstantin Gubernatorov +3World Models for RoboticsContact-Rich Robotic Manipulation

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia

  16. ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks

    Sep 20, 2026Chengyi Xing, Shaoxiong Yao, Diego Romeres +1Contact-Rich Robotic ManipulationDiffusion Policy

    Mitsubishi Electric Research Labs, Cambridge, MA, US

  17. CompVLA: A Variable Compliance Vision-Language-Action Model for Contact-rich Manipulation

    Sep 20, 2026Jongmin Kim, Junsu Ha, Che-Sang Park +5Contact-Rich Robotic ManipulationRobotic Manipulation

    Seoul National University · Microsoft Research Asia

  18. PINGU: Extending Air-Bearing Spacecraft Emulators with Open-Source Actuators and Learned Control for Contact-Rich Proximity Operations

    Sep 20, 2026Ricard Marsal I Castan, Akiyoshi Uchida, Aman Arora +7Space RoboticsContact-Rich Robotic Manipulation

    University of Luxembourg · Tohoku University · Georgia Institute of Technology

  19. Agile-WAM: An Agile Tactile World Action Model for Contact-Rich Robot Control

    Sep 17, 2026Hanchu Zhou, Brendan Lynch, Raman Goyal +4Robotic ControlWorld Models for Robotics

    University of California, Davis, One Shields Avenue, Davis, CA, USA · Analog Devices · Analog Devices, San Jose, CA, USA

  20. Visual Sim-to-Real Learning for Robotic Insertion under Geometric Variations: Application to Rebar Installation

    Sep 17, 2026Tao Sun, Beining Han, Patrick Yin +5RL for RoboticsRobotic Construction

    McGill University · Princeton University · University of Washington

  21. Compliance for Free: Learning Identifiable Impedance via Bilateral Teleoperation

    Sep 17, 2026Harsha Guda, Adrià Colomé, Carme TorrasRobotic ControlContact-Rich Robotic Manipulation

    Institut de Rob`otica i Inform`atica Industrial, CSIC-UPC Barcelona, Spain

  22. Hybrid Residual Reinforcement Learning for Contact-Rich Robotic Book Insertion

    Sep 17, 2026Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2Contact-Rich Robotic ManipulationRobotic RL

    Deakin University, Australia

  23. TacSushi: Tactile-Grounded World-Action Modeling for Dexterous Sushi Manipulation

    Sep 17, 2026Haodi Hu, Kaen Kogashi, Toshiaki Koike-AkinoWorld Models for RoboticsContact-Rich Robotic Manipulation

    University of Southern California, USA · Mitsubishi Electric Research Laboratories (MERL), USA · Mitsubishi Electric, Japan

  24. WorldContact: A Contact-Centric World Model for Scalable Robot Learning

    Sep 17, 2026Caoliwen Wang, Mengdi Wang, Heng Zhang +7Robot Policy AdaptationWorld Models for Robotics

    University of British Columbia · Westlake University · Style3D Research

  25. Dreaming the Sound of Contact: Leveraging Video and Audio Generation for Zero-Shot Force-Aware Manipulation and Data Generation

    Sep 16, 2026Guanhua Ji, Tianyu Li, Dayoon Suh +3Contact-Rich Robotic ManipulationSynthetic Data Generation for Robotics

    GRASP Lab, University of Pennsylvania, PA 19104, USA

  26. Grasping by interconnection: robust closing motions from coarse object templates

    Sep 16, 2026Julien Vanderheyden, Guillaume Drion, Fulvio Forni +1Robotic GraspingContact-Rich Robotic Manipulation

    Department of Electrical Engineering and Computer Science, University of Liège, Belgium · Department of Engineering, University of Cambridge, United Kingdom

  27. TAO-Force: Unifying Force-Aware Perception and Fast-Slow Control for Contact-Rich Manipulation

    Sep 16, 2026Bohan Gan, Xuanzhang Wen, Yongsheng Zhao +8Contact-Rich Robotic ManipulationForce-Controlled Robotic Manipulation

    China Mobile (Hangzhou) Information Technology Co., Ltd., Hangzhou 310023, China

  28. Function-Preserving Data Generation for Zero-Shot Real-to-Sim-to-Real Manipulation

    Sep 16, 2026Tianyi Xiang, Xupeng Xie, Jiahang Cao +3Synthetic-to-Real Domain AdaptationLong-Horizon Robotic Manipulation

    Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · Institute of Data Science, The University of Hong Kong, Hong Kong SAR, China

  29. ForceDelta-VLA: Distilling Force-Conditioned ActionCorrections for Contact-Rich Manipulation

    Sep 16, 2026Ju Dong, Yu Fu, Jian Chen +9Contact-Rich Robotic ManipulationForce-Controlled Robotic Manipulation

    TAMS (Technical Aspects of Multimodal Systems), Department of Informatics, University of Hamburg, Hamburg, Germany. · University of Science and Technology of China, Hefei, China. · Technical University of Munich, Germany.

  30. Dissecting Motion-Prior Regularization for Data-Scarce Robotic Insertion

    Sep 15, 2026Ning Hu, Shuai Li, Jindong TanTrajectory OptimizationContact-Rich Robotic Manipulation

    Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USA · Engineering School of Sustainable Infrastructure and Environment, University of Florida, Gainesville, FL 32611, USA