Contact-Rich Robotic Manipulation

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  1. PhysReflect-VLA: Physical Feasibility and Self-Reflective Regulation for Reliable Vision-Language-Action Policies

    Jun 25, 2026Jiayu Yang, Tao Yang, Weijun Li +4Robot Policy LearningLong-Horizon Robotic Manipulation

  2. Tactile-WAM: Touch-Aware World Action Model with Tactile Asymmetric Attention

    Jun 25, 2026Siyu Wu, Linjing You, Junjie Zhu +7World Models for RoboticsContact-Rich Robotic Manipulation

  3. Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?

    Jun 24, 2026Tyler Ga Wei Lum, Kushal Kedia, C. Karen Liu +1RL for RoboticsRobot Skill Learning

  4. CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation

    Jun 24, 2026Haonan Chen, Yuxiang Ma, Stephen Tian +7Long-Horizon Robotic ManipulationContact-Rich Robotic Manipulation

  5. ForceBand: Learning Forceful Manipulation with sEMG

    Jun 24, 2026Botao He, Zhi Wang, Linna Kuang +8Robot Skill LearningContact-Rich Robotic Manipulation

  6. OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation

    Jun 24, 2026Runyi Yu, Xiaoyi Lin, Ji Ma +11Humanoid Loco-ManipulationLong-Horizon Robotic Manipulation

  7. Stage-Aware and Roughness-Constrained Diffusion Policy for Multi-Stage Robotic Polishing

    Jun 24, 2026Shuai Ke, Jiexin Zhang, Huan Zhao +7Long-Horizon Robotic ManipulationContact-Rich Robotic Manipulation

  8. DexTeleop-0: Force-Aware Bimanual Dexterous Teleoperation with Ego-Centric Perception towards Shared Autonomy

    Jun 22, 2026Haichao Liu, Yuyao Jiang, Hyunsun Park +2Dexterous ManipulationBimanual Robotic Manipulation

  9. Assistron: Bayesian Shared Autonomy with Off-the-shelf Vision-Language-Action Models

    Jun 22, 2026Pinhao Song, Ze Fu, Yutong Hu +1Language-Conditioned Robot ManipulationContact-Rich Robotic Manipulation

  10. Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning

    Jun 20, 2026Yan Zhang, Yiming Li, Yifei Dong +2Contact-Rich Robotic ManipulationWhole-Body Robotic Manipulation

  11. Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation

    Jun 16, 2026Magnus Dierking, Joao Carvalho, An Thai Le +2Contact-Rich Robotic ManipulationModel Predictive Control

  12. GeoTLM: Geometry-aware Tactile-Language Models for Contact Motion Orientation Reasoning of Dynamic Objects

    Jun 14, 2026Qiutian Li, Zinan Liu, Lin WangTactile SensingContact-Rich Robotic Manipulation

  13. Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands

    Jun 14, 2026Soofiyan Atar, Yao-Ting Huang, Michael YipRobotic GraspingDexterous Manipulation

  14. A Bilateral Teleoperation Framework for Dexterous Manipulation

    Jun 13, 2026Stefano Dalla Gasperina, Dong Ho Kang, Haiyun Zhang +10Dexterous ManipulationContact-Rich Robotic Manipulation

  15. DragMesh-2: Physically Plausible Dexterous Hand-Object Interaction with Articulated Objects

    Jun 13, 2026Tianshan Zhang, Yijia Duan, Yanjun Li +2Robot Policy LearningDexterous Manipulation

  16. Inference-time Policy Steering via Vision and Touch

    Jun 12, 2026Yilin Wu, Zilin Si, Zeynep Temel +2Robot Policy LearningRobot Policy Adaptation

  17. Multimodal Physiological Assessment of Contact-Rich Physical Human-Robot Interaction Under Varying Environmental Conditions

    Jun 12, 2026Yanyi Chen, Xi Wang, Min DengContact-Rich Robotic ManipulationHuman-Robot Interaction

  18. Interaction Dynamics for Dexterous Manipulation

    Jun 12, 2026Yongyan CaoDexterous ManipulationContact-Rich Robotic Manipulation

  19. Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation

    Jun 12, 2026Wei-Chen Li, Jeffrey Fang, Sasanka Polisetti +2Constrained Motion PlanningContact-Rich Robotic Manipulation

  20. The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation

    Jun 12, 2026Yao-Ting Huang, Jake Honma, Omar Hernandez +4Contact-Rich Robotic ManipulationRobot Teleoperation

  21. ContactWorld: What Representations Matter for Vision-Tactile Latent World Models in Contact-Rich Manipulation

    Jun 11, 2026Zhiyuan Zhang, Pokuang Zhou, Kaidi Zhang +7Representation LearningWorld Models for Robotics

  22. WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning

    Jun 11, 2026Jaehwi Jang, Zhaoyuan Gu, Alfred Cueva +15Contact-Rich Robotic ManipulationWhole-Body Robotic Manipulation

  23. FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation

    Jun 11, 2026Chengbo Yuan, Zicheng Zhang, Mingjie Zhou +14Robot Skill LearningContact-Rich Robotic Manipulation

  24. GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training

    Jun 11, 2026Zhihai Bi, Qiang Zhang, Guoyang Zhao +8Contact-Rich Robotic ManipulationRobot Motion Generation

  25. EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows

    Jun 10, 2026Clinton Enwerem, John S. Baras, Calin BeltaRobotic GraspingContact-Rich Robotic Manipulation