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. Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization

    May 21, 2026Kenzhi Iskandar Wong, Lin Yang, Qian Ying Lee +1Robotic GraspingBimanual Robotic Manipulation

    School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore

  2. TacO: Benchmarking Tactile Sensors for Object Manipulation

    May 21, 2026Anya Zorin, Zilin Si, Myungsun Park +11Tactile SensingContact-Rich Robotic Manipulation

    UC San Diego United States · CMU · UC San Diego +2

  3. PGDG: Physically Grounded Data Generation for Robust Bimanual Policy Learning from a Single Demonstration

    May 20, 2026Cunxi Dai, Haoran Chang, Aditya Nisal +5Robot Policy LearningBimanual Robotic Manipulation

    Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA · Dexmate, USA

  4. Safety-Critical Control for Smoothed Implicit Contact Dynamics

    May 20, 2026Haegu Lee, Yitaek Kim, Christoffer SlothDynamical SystemsContact-Rich Robotic Manipulation

    The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark

  5. Spacetime Optimal-Transport Attention for Visuo-Haptic Imitation Learning of Contact-Rich Manipulation

    May 19, 2026Yue Feng, Weicheng Huang, I-Ming ChenContact-Rich Robotic ManipulationRobot Imitation Learning

    Robotics Research Centre, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 · Wings Robotics

  6. CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation

    May 19, 2026Xinyuan Luo, Xingrui Chen, Xunjian Yin +6Humanoid Loco-ManipulationContact-Rich Robotic Manipulation

    Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC 27708, USA

  7. Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation

    May 18, 2026Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar +2Contact-Rich Robotic ManipulationRobust Control

    Yale University, New Haven, CT, USA · Ghent University, Belgium · Georgia Institute of Technology, Atlanta, GA, USA +1

  8. From a Single Demonstration to a General Policy for Contact-Rich Manipulation

    May 17, 2026Xing Li, Oliver BrockRobot Skill LearningContact-Rich Robotic Manipulation

    Robotics and Biology Laboratory, Technische Universität Berlin · Technische Universität Berlin · Science of Intelligence, Research Cluster of Excellence, Berlin +1

  9. SkiP: When to Skip and When to Refine for Efficient Robot Manipulation

    May 15, 2026Mingtong Dai, Guanqi Peng, Yongjie Bai +5Robot Skill LearningContact-Rich Robotic Manipulation

    Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences · Southern University of Science and Technology · Peng Cheng Laboratory +2

  10. SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy

    May 12, 2026Yibo Liu, Stanko Oparnica, Simon Shewchun-Jakaitis +5Contact-Rich Robotic ManipulationDiffusion Policy

    Epson Canada, Markham, Ontario L3R 6G3, Canada · Queen’s University, Kingston, Ontario K7L 3N6, Canada

  11. DexTwist: Dexterous Hand Retargeting for Twist Motion via Mixed Reality-based Teleoperation

    May 12, 2026Dongmyoung Lee, Chengxi Li, Dongheui LeeDexterous ManipulationContact-Rich Robotic Manipulation

    Autonomous Systems Lab, Institute of Computer Technology, TU Wien, Vienna, Austria. · Institute of Robotics and Mechatronics (DLR), German Aerospace Center, Wessling, Germany.

  12. ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching

    May 11, 2026Shuoheng Zhang, Yifu Yuan, Hongyao Tang +7Contact-Rich Robotic ManipulationRobot Imitation Learning

    Tianjin University · Shanghai AI Lab · Huawei Noah’s Ark Lab

  13. IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization

    May 9, 2026Jiayun Li, Dejian Gong, Georgia ChalvatzakiConstrained Motion PlanningTrajectory Optimization

    1PEARL Lab, Dept. of Computer Science, TU Darmstadt, Germany · 2Hessian.AI, Darmstadt, Germany · 3Robotics Institute Germany (RIG)

  14. AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models

    May 8, 2026Xiaoqi Li, Muhe Cai, Jiadong Xu +5Contact-Rich Robotic ManipulationVLM Adaptation

    School of Computer Science, Peking University · PrimeBot · PKU Lab

  15. DexSynRefine: Synthesizing and Refining Human-Object Interaction Motion for Physically Feasible Dexterous Robot Actions

    May 7, 2026Hyesung Lee, Hyunwoo Jung, Si-Hwan Heo +1HOI GenerationDexterous Manipulation

    Korea Institute of Science and Technology · KAIST · Hanyang University

  16. From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances

    May 6, 2026Xinpan Meng, Siyao Huang, JingPu Yang +6RL for RoboticsContact-Rich Robotic Manipulation

    State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China

  17. RLDX-1 Technical Report

    May 5, 2026Dongyoung Kim, Huiwon Jang, Myungkyu Koo +65Contact-Rich Robotic ManipulationRobotic Manipulation

  18. CoRAL: Contact-Rich Adaptive LLM-based Control for Robotic Manipulation

    May 4, 2026Berk Çiçek, Mert K. Er, Ozgur S. OguzLanguage Model-Based ControlLarge Language Model-Based Robot Planning

    LiRA Lab, Department of Computer Engineering, Bilkent University, Ankara, Türkiye

  19. Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies

    Apr 29, 2026Pokuang Zhou, Yuhao Zhou, Quan Khanh Luu +7Legged RoboticsRL for Robotics

    Purdue University, West Lafayette, IN, USA. · Istituto Italiano di Tecnologia, Genoa, Italy. · Columbia University, New York, NY, USA.

  20. Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS

    Apr 29, 2026Zhongqi Wei, Frederike DümbgenTrajectory OptimizationLong-Horizon Robotic Manipulation

    Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA · Inria, Département d’informatique de l’ENS, CNRS, PSL Research University, Paris, France

  21. Move-Then-Operate: Behavioral Phasing for Human-Like Robotic Manipulation

    Apr 26, 2026Haoming Xu, Lei Lei, Jie Gu +3Robot Skill LearningContact-Rich Robotic Manipulation

    Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China. · Rightly Robotics, Hangzhou, China. · Shanghai Innovation Institute, Shanghai, China. +2

  22. Tube Diffusion Policy: Reactive Visual-Tactile Policy Learning for Contact-rich Manipulation

    Apr 26, 2026Teng Xue, Alberto Rigo, Bingjian Huang +4Robot Policy LearningContact-Rich Robotic Manipulation

    Meta Reality Labs Research · Idiap Research Institute · École Polytechnique Fédérale de Lausanne (EPFL) +2

  23. Visual-Tactile Peg-in-Hole Assembly Learning from Peg-out-of-Hole Disassembly

    Apr 22, 2026Yongqiang Zhao, Xuyang Zhang, Zhuo Chen +3RL for RoboticsContact-Rich Robotic Manipulation

    Department of Engineering, King’s College London, Strand, London, WC2R 2LS, United Kingdom · Department of Informatics, King’s College London, Strand, London, WC2R 2LS, United Kingdom

  24. Learning Hybrid-Control Policies for High-Precision In-Contact Manipulation Under Uncertainty

    Apr 21, 2026Hunter L. Brown, Geoffrey Hollinger, Stefan LeeRobotic ControlContact-Rich Robotic Manipulation

    Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR

  25. DART: Learning-Enhanced Model Predictive Control for Dual-Arm Non-Prehensile Manipulation

    Apr 20, 2026Autrio Das, Shreya Bollimuntha, Madala Venkata Renu Jeevesh +5Bimanual Robotic ManipulationNon-Prehensile Manipulation

  26. Novel Algorithms for Smoothly Differentiable and Efficiently Vectorizable Contact Manifold Construction

    Apr 19, 2026Onur Beker, Andreas René Geist, Anselm Paulus +1Signed Distance FunctionsContact-Rich Robotic Manipulation

    University of Tübingen

  27. FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes

    Apr 19, 2026Siyuan Luo, Bingyang Zhou, Chong Zhang +9Contact-Rich Robotic ManipulationRobotics Simulation

    NUS Human-Centered Robotic Lab · ETH · ShanghaiTech University +2

  28. Refinement of Accelerated Demonstrations via Incremental Iterative Reference Learning Control for Fast Contact-Rich Imitation Learning

    Apr 18, 2026Koki Yamane, Cristian C. Beltran-Hernandez, Steven Oh +2Robot Trajectory TrackingContact-Rich Robotic Manipulation

    OMRON SINIC X Corporation, Bunkyo-ku, Tokyo 113-0033, Japan · Waseda University, Shinjuku-ku, Tokyo, 169-8050, Japan · University of Tsukuba, Tsukuba, Ibaraki 305-8573, Japan

  29. Frequency-aware decomposition learning for sensorless wrench estimation in vibration-rich robotic contact

    Apr 14, 2026Hyeonbeen Lee, Min-Jae Jung, Tae-Kyeong Yeu +4Contact-Rich Robotic ManipulationFrequency-Domain Feature Learning

    Department of Mechanical Engineering, Kyung Hee University, South Korea

  30. Planning for Change: Reinforcement Learning Combined with Bounded Extremum Seeking for Robotic Control under Distribution Shift

    Apr 1, 2026Shaifalee Saxena, Rafael Fierro, Alexander ScheinkerRobotic ControlReinforcement Learning

    Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM 87106, USA · Los Alamos National Lab, Los Alamos, NM 87547, USA