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. Hybrid Impedance-Admittance Control with Multi-Link Aerial Robot for Contact-Rich Surface Sliding Task

    Aug 3, 2026Zicheng Luo, Maolin Lei, Jinjie Li +3Contact-Rich Robotic ManipulationAdmittance Control

    Department of Mechanical-Engineering, The University of Tokyo, Bunkyo-ku, Tokyo 113-8656, Japan

  2. A Tilt-Rotor UAV with a Gripper for Stable Contact-Based Tasks via Environmental Anchoring

    Aug 3, 2026Joshua Taylor, Nursultan Imanberdiyev, Wei-Yun Yau +2Aerial RoboticsContact-Rich Robotic Manipulation

    National University of Singapore (NUS), Singapore. · Institute for Infocomm Research (I2R), A*STAR, Singapore.

  3. TWINS: A Tactile Wearable Isomorphic Arm Networked System for Contact-Rich Manipulation Learning

    Aug 3, 2026Takahide Kitamura, Masaki Murooka, Natsuki Yamanobe +1Bimanual Robotic ManipulationContact-Rich Robotic Manipulation

    National Institute of Advanced Industrial Science and Technology (AIST), 2-3-26 Aomi, Koto-ku, 135-0064, Tokyo, Japan.

  4. Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them

    Aug 2, 2026Carlota Parés-Morlans, Nils Kuhn, Isabel Liu +2Robotic ControlContact-Rich Robotic Manipulation

    Stanford University

  5. Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning

    Aug 2, 2026Shilin Shan, Chuhao Zhou, Ruize Wang +30Contact-Rich Robotic ManipulationRobotic Tactile Sensing

    Nanyang Technological University · Stanford University · University of California, Berkeley +9

  6. CAAT: Contact-Aware Attention Scaling and Tactile Masking for Data-Efficient Contact-Rich Manipulation

    Aug 2, 2026Jiaming Jiang, Yuzhe Huang, Hao Liang +7Contact-Rich Robotic ManipulationVisuo-Tactile Representation Learning

    ShanghaiTech University · Beijing Institute for General Artificial Intelligence · Beihang University +2

  7. Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality

    Aug 1, 2026Clinton Enwerem, John S. Baras, Calin BeltaRobotic ControlRobotic Grasping

    Department of Electrical and Computer Engineering and the Institute for Systems Research (ISR), University of Maryland, College Park, MD, USA

  8. Disentangling Visuo-Tactile Foresight: Oracle-Guided Interface Discovery for World Action Models

    Aug 1, 2026Zihang Yao, Chaoyue Ding, Yingying YuWorld Models for RoboticsContact-Rich Robotic Manipulation

    Brigham Young University · Brigham Young University, Provo, Utah, USA · Beijing Academy of Science and Technology +1

  9. Learning to Predict Contact Force Distributions from Vision Leveraging Object Geometry Priors

    Aug 1, 2026Ryo Hanai, Yukiyasu Domaea, Ixchel G. Ramirez-Alpizar +3Contact-Rich Robotic ManipulationRobotic Manipulation

    Artificial Intelligence Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan · Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan · Institute of AI and Robotics, Graduate School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan

  10. Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations

    Jul 31, 2026Nataliya Nechyporenko, Ava Abderezaei, Alessandro RonconeRobotic GraspingContact-Rich Robotic Manipulation

  11. TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation

    Jul 31, 2026Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1Robotic ControlRobot Skill Learning

    Department of Mechano-Informatics Graduate School of Information Science and Technology, The University of Tokyo Tokyo, Japan

  12. MDIR: A Task-Manifold Impedance Retargeting Method for Contact-Rich Teleoperation

    Jul 31, 2026Liu Jiahao, Kento Kawaharazuka, Tasuku Makabe +1Contact-Rich Robotic ManipulationRobot Teleoperation

    Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan

  13. TacPrint: A Wearable Fingertip Tactile Sensor for Human-to-Robot Contact Reproduction

    Jul 31, 2026Yongxi Liu, Chaofan Zhang, Xingyu Zhang +4Robotic GraspingTactile Sensing

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

  14. FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation

    Jul 30, 2026Lifeng Zhuo, Wendi Chen, Han Xue +4Contact-Rich Robotic ManipulationVisuomotor Policy Learning

    1Shanghai Jiao Tong University · 2Shanghai Innovation Institute · 3Noematrix Ltd.

  15. TacWAM: Anchor-Guided World Action Model with Mechanics-Aware Tactile Prediction

    Jul 30, 2026Lei Jin, Yiding Ma, Xin Zhang +3World Models for RoboticsContact-Rich Robotic Manipulation

    1Tsinghua University · 2Manifold AI

  16. ContactFlow: A video action conditioning that transfers across embodiments

    Jul 29, 2026Sami Azirar, Enrico Pallotta, Jan Nogga +3Action-Conditioned Video GenerationContact-Rich Robotic Manipulation

    University of Bonn, Lamarr Institute

  17. 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

  18. N0N_0-TWAM: Scaling Tactile-Native World-Action Model for Contact-Rich Manipulation

    Jul 26, 2026NeoteAI Team, Fudan TEAI TeamLong-Horizon Robotic ManipulationWorld Models for Robotics

    NeoteAI Team · Fudan TEAI Team

  19. N0N_0-VTLA: Scaling Vision-Tactile-Language-Action Model with Latent Tactile Tokens

    Jul 26, 2026NeoteAI Team, Fudan TEAI TeamLong-Horizon Robotic ManipulationContact-Rich Robotic Manipulation

    NeoteAI Team · Fudan TEAI Team

  20. ViTacWorld: Scaling Visuo-Tactile World Models for Contact-Rich Robot Manipulation

    Jul 24, 2026Yunao Huang, Shiyu Sang, Suting Ni +6World Models for RoboticsContact-Rich Robotic Manipulation

    ShanghaiTech University · InstAdapt

  21. Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics

    Jul 24, 2026Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5Robot Trajectory TrackingContact-Rich Robotic Manipulation

  22. FORGE-plus: Force-Budgeted Recovery for Contact-Rich Assembly with a Frozen LLM Supervisor

    Jul 23, 2026Kyupaeck Jeff Rah, Midum OhReinforcement LearningLanguage Model-Based Control

    Independent Researcher

  23. URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation

    Jul 23, 2026Jiyou Shin, Youngjin Seo, Jaeseog Won +5Robotic ControlContact-Rich Robotic Manipulation

    The authors are with the Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon 2066, South Korea · The authors are with the Faculty of Intelligent Robotics, Sungkyunkwan University, Suwon 2066, South Korea

  24. FELT: Generating Tactile Signals from Vision for Visuo-Tactile Manipulation

    Jul 22, 2026Zinan Li, Yiyang Ling, Yuming Gu +8Contact-Rich Robotic ManipulationVisuo-Tactile Representation Learning

    Viterbi School of Engineering, University of Southern California · Columbia University · Starpilot

  25. FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation

    Jul 20, 2026Ruicheng Li, Qixiu Li, Ruichun Ma +8Memory-Augmented VLMsLanguage-Conditioned Robot Manipulation

    Tsinghua University · Microsoft Research · Fudan University +1

  26. HCPG-Flow:Hierarchical Contact-Progress Guidance for Flow-Policy Robot Manipulation

    Jul 20, 2026Guanghu Xie, Mingxu Li, Shuo Zhang +5Contact-Rich Robotic ManipulationRobotic RL

    State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, Heilongjiang, China

  27. BayesContact: Uncertain Pose Estimation via Visuo-Tactile Proposals and Simulation-based Inference

    Jul 17, 2026Aditya Kamireddypalli, Matias Mattamala, Joao Moura +3Simulation-Based InferenceContact-Rich Robotic Manipulation

    School of Informatics, University of Edinburgh, Scotland. · Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada.

  28. Data and Learning Where it Matters for Contact-Rich Manipulation

    Jul 17, 2026Oliver Hausdörfer, Linus Schwarz, Gabor Marko +7Robot Skill LearningContact-Rich Robotic Manipulation

    1TU Munich · 2Siemens AG

  29. IMBench: A Benchmark for Intuitive Robotic Manipulation

    Jul 17, 2026Anurag Maurya, Sukhvansh Jain, Prajwal Avhad +9Contact-Rich Robotic ManipulationRobotic Manipulation

    Manav Robotics, Bengaluru, India

  30. Representation-Aligned Tactile Grounding for Contact-Rich Robotic Manipulation

    Jul 16, 2026Ruilin Chen, Jingkai Jia, Tong Yang +8Contact-Rich Robotic ManipulationVisuo-Tactile Representation Learning

    Shanghai Key Lab of Intelligent Information Processing, College of Computer Science and Artificial Intelligence, Fudan University · College of Intelligent Robotics and Advanced Manufacturing, Fudan University · TeleAl, China Telecom +2