Contact-Rich Robotic Manipulation

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  1. Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions

    Sep 15, 2026Liu Cao, Xingze Wu, Jingzhi Cui +4HOI GenerationHumanoid Loco-Manipulation

  2. ProxiDex: Learning Dynamics-Guided Proximity Policy for Dexterous Manipulation

    Sep 15, 2026Yushan Bai, Boyu Zheng, Zhiyang Mao +4Robot Policy LearningContact-Rich Robotic Manipulation

  3. XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation

    Sep 14, 2026Xiwen Dengxiong, Xueting Wang, Ke Jing +2Tactile SensingContact-Rich Robotic Manipulation

  4. PredTac: Learning Contact-Rich Manipulation with Predicted Touch

    Sep 14, 2026Weijia Fan, Daqiang GuoTactile SensingContact-Rich Robotic Manipulation

  5. Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper

    Sep 14, 2026Marko Pavlic, Moritz Geier, Timo Markert +1Robotic GraspingContact-Rich Robotic Manipulation

  6. Real-World Reinforcement Learning with MPC Scaffolding for Dexterous Manipulation

    Sep 14, 2026Emek Barış Küçüktabak, Karankumar Patel, Zhaodong Yang +3Dexterous ManipulationContact-Rich Robotic Manipulation

  7. SEED-UMI: Sharing the Exoskeleton between human and robot for onE-to-one Dexterous demonstration

    Sep 11, 2026Tengbo Yu, Jiahao Wu, Daohan Li +4Contact-Rich Robotic ManipulationRobotic Data Collection

  8. Rapid Learning of Dexterous In-Hand Pen Writing through Real-Time Jacobian Estimation

    Sep 11, 2026Kai Stewart, Yasunori Toshimitsu, Robert K. KatzschmannRobotic ControlIn-Hand Manipulation

  9. RodForesight: A World Model Enhanced Diffusion Policy for Slender Rod Insertion

    Sep 10, 2026Chuanbo Yu, Mingyu Yue, Yan Lyu +2World Models for RoboticsContact-Rich Robotic Manipulation

  10. DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination

    Sep 8, 2026Yankai Fu, Ning Chen, Junkai Zhao +5Contact-Rich Robotic ManipulationVisuo-Tactile Representation Learning

  11. M3-Tele: A Unified Multimodal Teleoperational Framework for Compliant Whole-Body Mobile Manipulation

    Sep 7, 2026Hengxiang Chen, Shenwen Deng, Yujian Ma +3Mobile ManipulationContact-Rich Robotic Manipulation

  12. Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly

    Sep 7, 2026Yuhan Wang, Yurou Chen, Hongye Jiang +2RL for RoboticsCross-Modal Representation Learning

  13. FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation

    Sep 3, 2026Yutian Zhang, Siyuan Ma, Liwen Yang +6Contact-Rich Robotic ManipulationWhole-Body Control

  14. Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation

    Sep 1, 2026Haoyuan Deng, Haichao Liu, Wenkai Guo +6Robot Skill LearningContact-Rich Robotic Manipulation

  15. Does Imitation Learning Preserve Temporal Robustness in Dexterous Manipulation? An Expert-Learner Comparison Across Task Execution Speeds

    Sep 1, 2026Clinton Enwerem, John S. Baras, Calin BeltaContact-Rich Robotic ManipulationRobotic Policy Evaluation

  16. Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion

    Sep 1, 2026Yosel Delgado, José G. Buenaventura-Carreón, Floris Erich +4Contact-Rich Robotic ManipulationGeneralization in Robotic Manipulation

  17. Non-Prehensile Throwing: A Reinforcement Learning Perspective

    Sep 1, 2026Abdullah Mustafa, Ryo Hanai, Ixchel G. Ramirez-Alpizar +4RL for RoboticsNon-Prehensile Manipulation

  18. TacForcing: Streaming Action Generation with Execution-Time Tactile Feedback

    Aug 26, 2026Jianbo Zhou, Boyuan Zhao, Yuzheng Zhang +9Contact-Rich Robotic ManipulationTactile Sensing for Robotic Manipulation

  19. Contact Modes Are Strata: What Geometric Structure Buys in Discrete-Continuous Planning

    Aug 16, 2026Phone Thiha Kyaw, Jonathan KellyConstrained Motion PlanningContact-Rich Robotic Manipulation

  20. ContactGuard: Pre-Contact Execution Monitoring with Action-Conditioned Latent World Models

    Aug 13, 2026Gehan Zheng, Matthew Johnson-Roberson, Weiming ZhiRobot Failure DetectionContact-Rich Robotic Manipulation

  21. Particle-Based Conformal Prediction for Contact-Aware Uncertainty Calibration in Stratified Configuration Spaces

    Aug 10, 2026Luís Marques, Kristian Popov, Dmitry BerensonContact-Rich Robotic ManipulationConformal Prediction

  22. High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing

    Aug 10, 2026Arjun S. Lakshmipathy, Jonathan P. King, Ethan Zuo +6Contact-Rich Robotic ManipulationRobotic Data Collection

  23. C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video

    Aug 7, 2026Jie Ren, Zhehao Jiang, Yinhong Yang +9Contact-Rich Robotic Manipulation3D Reconstruction

  24. Design and Evaluation of a Touchscreen-Based Teleoperation Interface for Robotic Manipulators

    Aug 6, 2026Juan José García Cárdenas, Alperen Kenan, Hamidreza Raei +4Contact-Rich Robotic ManipulationRobot Teleoperation

  25. VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations

    Aug 6, 2026Hisham Khalil, Neil Fernandes, Thomas M. Kwok +2Contact-Rich Robotic ManipulationDiffusion Policy

  26. World-to-Wrist: Task-Conditioned Future Wrist Modeling for Fine-Grained Robot Manipulation

    Aug 5, 2026Yuhao Pan, Haosong Peng, Zhengshen Zhang +8Language-Conditioned Robot ManipulationContact-Rich Robotic Manipulation

  27. A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces

    Aug 4, 2026Rishabh Shukla, Adithya Santhosh, Shaili Gandhi +2Bimanual Robotic ManipulationContact-Rich Robotic Manipulation

  28. ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction

    Aug 3, 2026Shiqi Zhang, Xin Zhang, Yedong Shen +9Contact-Rich Robotic ManipulationRobotic Manipulation