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. FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning

    Jun 10, 2026Steven Oh, Jason Jingzhou Liu, Tony Tao +5Robot Policy LearningLong-Horizon Robotic Manipulation

    Carnegie Mellon University · Waseda University

  2. Bridging the Morphology Gap: Adapting VLA Models to Dexterous Manipulation via Intent-Conditioned Fine-Tuning

    Jun 10, 2026Chuanke Pang, Junyi Huang, Zhijun Zhao +3Contact-Rich Robotic ManipulationVLM Adaptation

    Beihang University · China Academy of Space Technology

  3. TacCoRL: Integrating Tactile Feedback into VLA via Simulation

    Jun 10, 2026Siyu Ma, Yuqi Liang, Chang Yu +5RL for RoboticsRobot Skill Learning

    University of California, Los Angeles · University of California, San Diego · 4Peking University +1

  4. Learning Object Manipulation from Scratch via Contrastive Interaction

    Jun 10, 2026Tongle Shen, Caleb Chuck, Fan Feng +1Dynamical SystemsReinforcement Learning

    1UC San Diego · 2UT Austin

  5. TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation

    Jun 9, 2026Yujie Zang, Yuhang Zheng, Xian Nie +7World Models for RoboticsContact-Rich Robotic Manipulation

    TARS Robotics · National University of Singapore · Shanghai Jiao Tong University +2

  6. IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

    Jun 9, 2026Jiawei Gao, Chaoqi Liu, Peilin Wu +2Robotic ControlContact-Rich Robotic Manipulation

    Harvard University · Stanford University

  7. Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Open-World Contact Localization

    Jun 9, 2026Yitian Shi, Di Wen, Zhengqi Han +6Contact-Rich Robotic ManipulationCross-Embodiment Robot Learning

    Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

  8. AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning

    Jun 8, 2026Hong Li, Yue Xu, Yihan Tang +8Representation LearningContact-Rich Robotic Manipulation

    Shanghai Jiao Tong University · Beijing Institute for General Artificial Intelligence (BIGAI) · Ant Group +1

  9. TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation

    Jun 8, 2026Huaihang Zheng, Yi Yang, Kai Ma +8RL for RoboticsLong-Horizon Robotic Manipulation

    Meituan · State Key Lab of Multimodal Artificial Intelligence Systems, Institute of Automation, CAS · Beijing Institute of Technology +2

  10. RGB-S: Image-Aligned Tactile Saliency for Robust Dexterous Manipulation

    Jun 7, 2026Shengcheng Luo, Kefei Wu, Xiaoying Zhou +3Contact-Rich Robotic ManipulationVisuo-Tactile Representation Learning

    ShanghaiTech University · Beijing Institute for General Artificial Intelligence

  11. Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation

    Jun 7, 2026Yunfan Lou, Yifan Ye, Yankai Fu +7World Models for RoboticsContact-Rich Robotic Manipulation

    Peking University Beijing, China · Nanjing University Nanjing, China · State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University Beijing, China

  12. Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation

    Jun 7, 2026Kunqi Xu, Zhenhao Huang, Siyuan Luo +2Contact-Rich Robotic ManipulationRobotics Simulation

    Human-centered Robotic Lab, National University of Singapore · School of EECS, Peking University

  13. FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation

    Jun 7, 2026Haotian He, Zeyu Yan, Qipeng Liu +2Robotic ControlWorld Models for Robotics

    School of Mathematical Sciences, Peking University · School of Artificial Intelligence, Shanghai Jiao Tong University.

  14. EgoAERO: Learning Dexterous Manipulation from a Single Egocentric Video without Object Assets

    Jun 6, 2026Yichen Niu, Haoran Lv, Xinrui Zhang +12Contact-Rich Robotic ManipulationEgocentric Video Understanding

    School of Astronautics, Harbin Institute of Technology · 2Lumos Robotic · 3Suzhou Research Institute, Harbin Institute of Technology +5

  15. Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation

    Jun 4, 2026Rickmer Krohn, Erik Helmut, Niklas Funk +3Tactile SensingContact-Rich Robotic Manipulation

    Interactive Robot Perception & Learning, TU Darmstadt · Hessian AI · Robotics Institute Germany +1

  16. TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation

    Jun 4, 2026Dongwon Son, Florian Shkurti, Jason Lee +3Robotic ControlSynthetic-to-Real Domain Adaptation

    1KAIST · *Work done during an internship at the Allen Institute for AI. · 2Allen Institute for AI +2

  17. MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation

    Jun 4, 2026Ilyass Taouil, Michal Ciebelski, Shafeef Omar +4Humanoid Loco-ManipulationLong-Horizon Robotic Manipulation

    Technical University of Munich, Germany · New York University, USA · Carnegie Mellon University, USA

  18. HapTile: A Haptic-Informed Vision-Tactile-Language-Action Dataset for Contact-Rich Imitation Learning

    Jun 3, 2026Amirhosein Alian, Yongqiang Zhao, Shiyi Gu +5Contact-Rich Robotic ManipulationRobot Teleoperation

    King’s College London, UK · Huawei, Noah’s Ark Lab, UK · University College London, UK

  19. ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control

    Jun 2, 2026Yutong Liang, Quanquan Peng, Ri-Zhao Qiu +1Robot Trajectory TrackingLong-Horizon Robotic Manipulation

    University of California San Diego

  20. PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation

    May 30, 2026Haofan Cao, Zhaoyang Li, Zhichao You +2Contact-Rich Robotic ManipulationAdmittance Control

    Southwest Jiaotong University

  21. Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills

    May 29, 2026Shuai Ke, Jiexin Zhang, Huan Zhao +4Contact-Rich Robotic ManipulationDiffusion Policy

    State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China

  22. Closed-Loop Object-Informed Control for Non-Prehensile Robot Manipulation

    May 29, 2026Nikola Raicevic, Hyomuk Kim, Shahid Mulla +5Long-Horizon Robotic ManipulationNon-Prehensile Manipulation

    Department of Electrical and Computer Engineering, University of California San Diego, 9500 Gilman Drive, La Jolla, CA 92093, United States

  23. Physics-informed Goal-Conditioned Reinforcement Learning under Hybrid Contact Dynamics

    May 28, 2026Vittorio Giammarino, Anastasios Manganaris, Ahmed H. QureshiReinforcement LearningContact-Rich Robotic Manipulation

    Department of Computer Science Purdue University

  24. BORA: Bridging Offline Reinforcement Learning and Online Residual Adaptation for Real-World Dexterous VLA Models

    May 28, 2026Zhongxi Chen, Yifan Han, Bin Qiu +8Contact-Rich Robotic ManipulationRobotic Manipulation

    Shanghai Jiao Tong University (SJTU) · CASIA · Shanghai AI Laboratory +1

  25. VE2VF: Vision-Enabled to Vision-Free Distillation via Real-world Reinforcement Learning for Robust Contact-Rich Manipulation

    May 28, 2026Victor Kowalski, Chengxi Li, Dongheui LeeCross-Modal Knowledge DistillationRobot Skill Learning

    Autonomous Systems, Technische Universitaet Wien (TU Wien), Vienna, Austria · Institute of Robotics and Mechatronics (DLR), German Aerospace Center, Wessling, Germany

  26. Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation

    May 27, 2026Jiahe Pan, Stelian Coros, Jitendra Malik +1RL for RoboticsTactile Sensing

    1ETH Zürich · 2UC Berkeley

  27. Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization

    May 27, 2026Zhe Zhang, Xingrong Diao, Haoxiang Liang +4Contact-Rich Robotic ManipulationRobot Motion Planning

    † denotes equal contribution. · Senior Member, IEEE

  28. Compliant Non-Prehensile Pushing Manipulation

    May 25, 2026Francesco Cufino, Mario Selvaggio, Fabio Amadio +1Contact-Rich ManipulationNon-Prehensile Manipulation

    The authors are with the PRISMA Lab, department of Electrical Engineering and Information Technology of the University of Naples Federico II, Via Claudio, 21, Naples, 80125, Italy. · The author is with Inria, CNRS, Université de Lorraine, Nancy, 54000, France (work carried out while at the ABB Corporate Research Center, Västerås, 72226, Sweden).

  29. IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems

    May 23, 2026Qixin Liang, Zhongqing HanContact-Rich Robotic ManipulationRobotics Simulation

    Anker Humanoid Lab · Shenzhen, China · The University of Hong Kong +1

  30. CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation

    May 21, 2026Wentian Wang, Chutong Wen, Hongxu Ma +6Robot Policy AdaptationRobot Skill Learning

    Synthoid AI · HKU