Cross-Embodiment Robot Learning

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52 papers in the last four weeks, up 550% on the four weeks before. 0.5% of all new papers.

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Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback
Jun 12, 2026Litian Liang, Jingxi Xu, Xinda Qi +7Long-Horizon Robotic Manipulation Robot Teleoperation
1Ant Group · 2Stanford University
$μ_0$ : A Scalable 3D Interaction-Trace World Model
Jun 11, 2026Seungjae Lee, Yoonkyo Jung, Jusuk Lee +6World Models for Robotics Generalization in Robotic Manipulation
University of Maryland, College Park · Seoul National University
LabVLA: Grounding Vision-Language-Action Models in Scientific Laboratories
Jun 11, 2026Baochang Ren, Xinjie Liu, Xi Chen +15AI for Science Robot Skill Learning
Zhejiang University · Shanghai AI Laboratory · Harbin Institute of Technology
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
Jun 11, 2026Chengbo Yuan, Zicheng Zhang, Mingjie Zhou +14Robot Skill Learning Contact-Rich Robotic Manipulation
1Tsinghua University · 2Shanghai Qi Zhi Institute · 3Sharpa +5
CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy
Jun 10, 2026Ria Doshi, Tian Gao, Annie Chen +2Mobile Robotics Cross-Embodiment Robot Learning
Stanford University
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 Manipulation VLM Adaptation
Beihang University · China Academy of Space Technology
VICX: Generalizable Robot Manipulation via Video Generation and In-Context Operator Network
Jun 10, 2026Song Chen, Linyan Xiang, Ying Zhou +1ICL for Robotics Language-Conditioned Robot Manipulation
National University of Singapore
LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition
Jun 10, 2026Harsh Gupta, Guanya Shi, Wenzhen YuanRobotic Control Robot Skill Learning
University of Illinois Urbana-Champaign · Carnegie Mellon University
Embodiment-conditioned Generalist Control for Multirotor Aerial Robots
Jun 9, 2026Orestis Konstantaropoulos, Welf Rehberg, Mihir Kulkarni +1RL for Robotics Aerial Robotics
Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway
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 Manipulation Cross-Embodiment Robot Learning
Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany
UniDexTok: A Unified Dexterous Hand Tokenizer from Real Data
Jun 9, 2026Dong Fang, Youjun Wu, Yuanxin Zhong +4Representation Learning Dexterous Manipulation
1Fudan University · 2Rimbot · 3Hefei University of Technology +1
Dexterous Point Policy: Learning Point-based Dexterous Hand Policies from Human Demonstrations
Jun 9, 2026Beomjun Kim, Seong Hyeon Park, Seunghoon Sim +3Dexterous Manipulation Cross-Embodiment Robot Learning
KAIST
GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation
Jun 8, 2026Sriram Krishna, Ben Eisner, Haotian Zhan +5Robot Policy Learning Robot Skill Learning
Robotics Institute, Carnegie Mellon University · UMass Amherst
iMaC: Translating Actions into Motion and Contact Images for Embodied World Models
Jun 8, 2026Zhenyu Wu, Xiuwei Xu, Yukun Zhou +8Representation Learning Cross-Embodiment Robot Learning
Beijing University of Posts and Telecommunications · Tsinghua University · GigaAI +1
SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps
Jun 8, 2026Yanming Shao, Zanxin Chen, Wenwei Lin +5Robotic Grasping Dexterous Manipulation
1Shanghai AI Lab · 2Shanghai Jiaotong University · 3Shenzhen University +3
Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video
Jun 7, 2026Yunhai Han, Jianuo Qiu, Linhao Bai +14Robot Skill Learning Sim-to-Real Transfer
1Georgia Institute of Technology · University of Pennsylvania · 3Toyota Research Institute +1
GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation
Jun 7, 2026Yuan Zhang, Shiqi Zhang, Yedong Shen +11Generalization in Robotic Manipulation Cross-Embodiment Robot Learning
Anhui University · University of Science and Technology of China · iFLYTEK
Uncertainty-Aware Intention Prediction for Human-to-Robot Assembly Teleoperation
Jun 6, 2026Fnu Heman, Yixuan Wang, Kolin Xu +6Temporal Action Segmentation Robot Teleoperation
Mechanical Engineering, University of California, Riverside, CA, USA · Electrical and Computer Engineering, University of Miami, FL, USA
Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data
Jun 6, 2026Ji Woong Kim, Ke Wang, Zipeng Fu +4Robot Skill Learning Robot Foundation Models
1Stanford University · 2Meta
Reinforcement learning in linear embedding space unlocks generalizable control across soft robot configurations
Jun 6, 2026Xinglong Zhang, Cong Li, Hangjie Mo +13Robotic Control RL for Robotics
College of Intelligence Science and Technology, National University of Defense Technology, Deya Road, Changsha, 410003, Hunan, China. · School of Management, Hefei University of Technology, Nanyihuan Road, Hefei, 230002,2026 Anhui, China. · State Key NanjingLaboratoryUniversityfor Novel(SuzhouSoftwareCampus),TechnologyTaihuandRoad,the Suzhou,School of215163,ScienceChina.and Technology, 4School of Computation, Information and Technology, Technical University of Munich, Boltzmann Strasse, Munich, 85748, Germany. +5
Efficient Skill Grounding via Code Refactoring with Small Language Models
Jun 6, 2026Sera Choi, Wonje Choi, Saehun Chun +4Small Language Models Cross-Embodiment Robot Learning
Department of Computer Science and Engineering, Sungkyunkwan University, Suwon, Republic of Korea · Department of Systems Management Engineering, Sungkyunkwan University, Suwon, Republic of Korea
RhinoVLA Technical Report
Jun 5, 2026Huixi Technology, :, Chen Zhang +13Efficient VLM Inference Efficient VLA Model Inference
Huixi Technology
What Matters When Cotraining Robot Manipulation Policies on Everyday Human Videos?
Jun 4, 2026Richard Li, Aditya Prakash, Andrew Wen +3Cross-Embodiment Robot Learning Robotic Manipulation
1Massachusetts Institute of Technology · University of Illinois Urbana-Champaign · 3Harvard University
TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation
Jun 4, 2026Dongwon Son, Florian Shkurti, Jason Lee +3Robotic Control Synthetic-to-Real Domain Adaptation
1KAIST · *Work done during an internship at the Allen Institute for AI. · 2Allen Institute for AI +2
RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
Jun 4, 2026Chaoyi Xu, Yixuan Jiang, Jiahui Huan +7Dexterous Manipulation In-Hand Manipulation
Peking University · BeingBeyond · Beihang University +2
Robots Need More than VLA and World Models
Jun 4, 2026Elis Karcini, Faisal Mehrban, Quang Nguyen +6Robot Foundation Models Cross-Embodiment Robot Learning
Stanford University · Istituto Italiano di Tecnologia · ETH Zurich +2
OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics
Jun 3, 2026Zhuoyuan Wu, Jun GaoAction-Conditioned Video Generation Action-Conditioned World Models
Peking University · University of Michigan · NVIDIA
PointAction: 3D Points as Universal Action Representations for Robot Control
Jun 2, 2026Mutian Tong, Han Jiang, Qiao Feng +2Generalization in Robotic Manipulation Cross-Embodiment Robot Learning
University of Pennsylvania · Work done during internship at University of Pennsylvania.
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
Jun 2, 2026Tianchen Huang, Feiyang Yuan, Junchi Gu +5Cross-Embodiment Robot Learning Motion Retargeting
Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
EaDex: A Cross-Embodiment Dexterous Manipulation Framework from Low-Cost Demonstrations
Jun 2, 2026Qian Zhao, Xin Tong, Chengdong Wu +2Dexterous Manipulation Cross-Embodiment Robot Learning
Faculty of Robot Science and Engineering, Northeastern University · Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences · School of Automation, Nanjing University of Information Science and Technology

Jun 12, 2026, cs.ROJ/K move · Enter open · S save

Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback

Litian Liang, Jingxi Xu, Xinda Qi, Yujun Cai+6

1Ant Group · 2Stanford University

Long-Horizon Robotic Manipulation Robot Teleoperation Cross-Embodiment Robot Learning Robotic Manipulation

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For robots to work safely in household environments, they need to be compliant and react to torque and force feedback during contact. However, the majority of existing data collection pipelines still lack the ability to capture force and torque data for learning active compliant policies. In this paper, we present Universal Manipulation Exoskeleton (UME), an upper-limb exoskeleton that provides real-time haptic torque feedback while recording whole-arm configurations and joint torque signals for teleoperation. With transparent torque feedback, human operators can even unsheathe kinematically constrained objects while blindfolded. UME is low-cost, lightweight, and portable. Equipped with an embedded IMU, it enables teleoperation for mobile manipulation. With our proposed universal retargeting algorithm, UME can teleoperate a range of robots, including the 7DoF OpenArm, 7DoF Franka, and 6DoF X-ARM. We demonstrate that this combination of capabilities enables learning bimanual, whole-body, and active compliant policies that operate effectively in highly constrained spaces. The learned robust autonomous policies achieve high success rates across a variety of tasks, including long-horizon mobile manipulation, force-mediated box flipping, visually occluded box pushing, and space-constrained tabletop manipulation. Videos, code, and additional information can be found at https://ume-exo.github.io.

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Latest papers 232