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. Visualizing Impedance Control in Augmented Reality for Teleoperation: Design and User Evaluation

    Mar 26, 2026Gijs van den Brandt, Femke van Beek, Elena TortaBimanual Robotic ManipulationContact-Rich Robotic Manipulation

    Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands

  2. A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications

    Mar 26, 2026Davide Tebaldi, Niccolò Paradisi, Fabio Pini +1Robotic ControlContact-Rich Robotic Manipulation

    The authors are with the “Enzo Ferrari” Department of Engineering, University of Modena and Reggio Emilia, via Pietro Vivarelli 10, 41125 Modena, Italy · The author is with the Department of Engineering for Innovation Medicine, University of Verona

  3. Tactile Modality Fusion for Vision-Language-Action Models

    Mar 15, 2026Charlotte Morissette, Amin Abyaneh, Wei-Di Chang +5Contact-Rich Robotic ManipulationVision-Language-Action Models

    McGill University, CAN · Mila - Québec AI Institute, CAN · NVIDIA, USA

  4. LDHP: Library-Driven Hierarchical Planning for Non-prehensile Dexterous Manipulation

    Mar 14, 2026Tierui He, Jiahui Zuo, Fumin Zhang +1Contact-Rich ManipulationRobotic Grasping

    Shanghai Marine Equipment Research Institute, Shanghai 200031, China. · J. Zuo and F. Zhang are with The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong. · C. Zhao is with Jilin University, Changchun, China.

  5. TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation

    Mar 13, 2026Kaidi Zhang, Heng Zhang, Zhengtong Xu +7Contact-Rich Robotic ManipulationRobotic Manipulation

    Edwardson School of Industrial Engineering, Purdue University, West Lafayette, IN 47907, USA · Human-Robot Interfaces and Interaction Lab, Istituto Italiano di Tecnologia, Genova, Italy · Ph.D. program of national interest in Robotics and Intelligent Machines (DRIM) and Universit`a di Genova, Genoa, Italy

  6. CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance

    Mar 12, 2026Leo Lin, Shivansh Patel, Jay Moon +2Robotic Hand DesignRobotic Grasping

    University of Illinois Urbana-Champaign · UC Irvine

  7. ContactExplorer: Contact Coverage-Guided Exploration for General-Purpose Dexterous Manipulation

    Mar 11, 2026Zixuan Liu, Ruoyi Qiao, Chenrui Tie +5Contact-Rich Robotic ManipulationRL Exploration

    School of Computing, National University of Singapore · RoboScience

  8. Residual RL-MPC for Robust Microrobotic Cell Pushing Under Time-Varying Flow

    Mar 5, 2026Yanda Yang, Sambeeta DasRobot Trajectory TrackingContact-Rich Robotic Manipulation

    Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA

  9. TDC: Sim-to-Real Transferable Directional Compliance for Contact-Rich Manipulation

    Feb 15, 2026Yifei Yang, Anzhe Chen, Zhenjie Zhu +6Contact-Rich Robotic ManipulationSim-to-Real Transfer

    Zhejiang University · Zhejiang Humanoid Robot Innovation Center

  10. Mind the Gap: Rethinking I/O Design for Contact-Rich Visuomotor Policy Learning

    Feb 9, 2026Cuijie Xu, Shurui Zheng, Zihao Su +7Contact-Rich Robotic ManipulationRobot Teleoperation

    Department of Electronic Engineering, Tsinghua University · Qiuzhen College, Tsinghua University · School of Mechanical and Aerospace Engineering, Jilin University +2

  11. Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation

    Feb 9, 2026Marc Toussaint, Cornelius V. Braun, Armand Jordana +5Reinforcement LearningNon-Prehensile Manipulation

    Technische Universität Berlin · Robotics Institute Germany · LAAS-CNRS +1

  12. DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter

    Feb 5, 2026Xukun Li, Yu Sun, Lei Zhang +10Bimanual Robotic ManipulationContact-Rich Robotic Manipulation

    XYZ Embodied AI, Beijing, China · Beijing Academy of Artificial Intelligence, Beijing, China · School of Computation, Information and Technology, Technical University of Munich, Garching, Germany +3

  13. Cross-Modal Visuo-Tactile Representation Learning with Action Chunking Transformers for Contact-Rich Manipulation

    Jan 31, 2026Yaohua Liu, Rong Fu, Amir H. Gandomi +2Representation LearningCross-Modal Representation Learning

    Chinese Medicine Guangdong Laboratory, Hengqin, Zhuhai 519031, China · Institute of Collaborative Innovation, University of Macau, Macau 999078, China · Faculty of Engineering & IT, University of Technology Sydney, Ultimo, NSW 2007, Australia +3

  14. Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist

    Jan 27, 2026Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki +3Robotic ControlDexterous Manipulation

    OMRON SINIC X Corporation, 5-24-5 Hongo, Bunkyo-ku, Tokyo, 113-0033, Japan · The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8654, Japan · Northeastern University, 360 Huntington Ave, Boston, MA, 02115, USA

  15. Where to Touch, How to Contact: A Hierarchical RL-MPC Framework for Geometry-Aware Sim-to-Real Manipulation

    Jan 16, 2026Zhixian Xie, Yu Xiang, Michael Posa +1Contact-Rich ManipulationNon-Prehensile Manipulation

    Arizona State University · University of Texas at Dallas · University of Pennsylvania

  16. Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation

    Dec 29, 2025Guo Ye, Zexi Zhang, Xu Zhao +4Contact-Rich Robotic ManipulationWorld Models

    Northwestern University, Evanston, IL, USA

  17. Tracing Energy Flow: Learning Tactile-based Grasping Force Control to Reduce Slippage in Dynamic Object Interaction

    Dec 24, 2025Cheng-Yu Kuo, Hirofumi Shin, Takamitsu MatsubaraRobotic GraspingContact-Rich Robotic Manipulation

    Graduated School of Science and Technology, Nara Institute of Science and Technology, Nara 630-0192, Japan · Honda R&D, Ltd., Saitama 351-0114, Japan

  18. Constant-Time Planning for Chaining Collision-free Motion to Manipulation Behaviors

    Nov 30, 2025Nayesha Gandotra, Itamar Mishani, Lai Yuan +2Contact-Rich Robotic ManipulationSafe Motion Planning

    Robotics Institute, School of Computer Science Carnegie Mellon University, United States

  19. Thor: Towards Human-Inspired Whole-Body Reactions for Intense Contact-Rich Environments

    Oct 30, 2025Gangyang Li, Hongzhe Shi, Qing Shi +5RL for RoboticsHumanoid Loco-Manipulation

    Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology · Beijing Academy of Artificial Intelligence

  20. BiNoMaP: Learning Category-Level Bimanual Non-Prehensile Manipulation Primitives

    Sep 25, 2025Huayi Zhou, Kui JiaBimanual Robotic ManipulationNon-Prehensile Manipulation

    School of Data Science, The Chinese University of Hong Kong, Shenzhen

  21. Learning Contact Dynamics through Touching: Action-conditional Graph Neural Networks for Robotic Peg Insertion

    Sep 15, 2025Zongyao Yi, Joachim Hertzberg, Martin AtzmuellerGraph Neural NetworksContact-Rich Robotic Manipulation

    German Research Center for Artificial Intelligence, DFKI Niedersachsen, Osnabrück, Germany · Osnabrück University, Institute of Computer Science, Osnabrück, Germany

  22. Passivity-Centric Safe Reinforcement Learning for Contact-Rich Robotic Tasks

    Mar 1, 2025Heng Zhang, Gokhan Solak, Sebastian Hjorth +1Robotic ControlContact-Rich Robotic Manipulation

    HRI2 Lab, Istituto Italiano di Tecnologia, Genoa, Italy · Ph.D. program of national interest in Robotics and Intelligent Machines (DRIM) and University of Genova, Genoa, Italy

  23. Periodic robust robotic rock chop via virtual model control

    Date pendingYi Zhang, Fumiya Iida, Fulvio ForniContact-Rich Robotic ManipulationRobust Control

    University of Cambridge, United Kingdom · University of Tokyo, Japan