Dynamic Robotic Manipulation

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Overview

Dynamic robotic manipulation concerns tasks where objects, people, or the robot itself move during contact, such as catching, throwing, handling ropes and cloth, and inserting parts into moving targets. Approaches combine temporal vision and motion prediction with model predictive control, reinforcement learning, and newer diffusion-policy, vision-language-action, and world-model methods; force and tactile feedback can help correct actions during contact. Evaluation increasingly tests real-time performance in simulation and on hardware, including moving-target and deformable-object benchmarks, with attention to latency, changing object properties, and transfer from simulation to real robots. A central challenge is balancing fast, reliable reactions with accurate prediction and generalization, especially when contact dynamics are uncertain and repeated outcomes vary.

Latest papers

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94 papers15 papers in the last four weeks, down 40% on the four weeks before. 0.1% of all new papers.

  1. Predict the Swing, Match the Speed: Robotic Pipe Stabbing With Learned Stereo Vision and Residual Reinforcement Learning

    Oct 27, 2026Mohamed Ashraf Mostafa, Taher El-Fakharany, Samir KhaledDynamic Robotic ManipulationVision-Based Robot Control

    Mining and Petroleum Engineering Department, Faculty of Engineering, Al-Azhar University, Cairo, Egypt · Petroleum Department, Faculty of Engineering and Technology, Future University in Egypt (FUE), Cairo, Egypt

  2. Nonprehensile Robotic Catching Using Virtual Constraints

    Oct 26, 2026Aakash Khandelwal, Ranjan MukherjeeNon-Prehensile Robotic ManipulationRobotic Manipulation

    Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824, USA

  3. Multimodal MPC via Bayesian Set Optimization for Dynamic Manipulation of Deformable Linear Objects

    Oct 22, 2026Youyuan Long, Gokhan Solak, Arash AjoudaniDeformable Object ManipulationDynamic Robotic Manipulation

    Human-Robot Interfaces and Interaction Lab, Istituto Italiano di Tecnologia, Genova, Italy

  4. AstroBench: Benchmarking Free-Floating Capture and Space Robotic Manipulation

    Oct 22, 2026Zizhe Wang, Jia Deng, Xin Lu +3Space RoboticsRobot Manipulation Benchmarks

    Astroup Lab, Beijing, China · Harbin Institute of Technology, Beijing Research Institute

  5. TrajWAM: An Efficient Trajectory-Guided World Action Model for Dynamic Robotic Manipulation

    Oct 19, 2026Haohan Geng, Sha Zhang, Weishuo Sun +7Dynamic Robotic ManipulationWorld Action Models

    University of Science and Technology of China. · The Chinese University of Hong Kong. · University of Macau. +1

  6. LIBERO-Dynamic: Benchmarking Robotic Manipulation in Dynamic Environments

    Oct 17, 2026Shaojie Ren, Jingwen Sun, Zezhi Liu +4Dynamic Robotic ManipulationRobot Manipulation Benchmarks

    University of Chinese Academy of Sciences · Beijing Zhongguancun Academy · Institute of Automation, Chinese Academy of Sciences +4

  7. PingpongDuo: Agile Humanoid Table Tennis Doubles with Safe Team Coordination

    Oct 14, 2026Haoran Jiang, Yichao Zhong, Kai Zhang +6Robotic Table TennisRobotics

    Shanghai Innovation Institute · Archon Robotics · The University of Hong Kong +1

  8. Physics-Aware Object-Centric SE(3) Forecasting for Real-Time Proactive Dynamic Grasping

    Oct 13, 2026Yirui Zhou, Hongli Xu, Ying Zheng +2Robotic GraspingDynamic Robotic Manipulation

    The Hong Kong Polytechnic University · Technical University of Munich

  9. LIBERO-Industry: Benchmarking Robotic Manipulation under Industrial Process Constraints

    Oct 12, 2026Ming Shin Cindy Sung, Duan Leijiahao, Haoxiang Wang +9Robotic ManipulationRobot Manipulation Benchmarks

    Institute of AI for Engineering, Tongji University · The Chinese University of Hong Kong · University of Aberdeen +1

  10. PRISM: Precision Forcing for Generalist Vision-Language-Action Policies

    Oct 10, 2026Chenghao Yue, Peiyan Li, Hao Wang +5Vision-Language-Action ModelsLanguage-Conditioned Robot Manipulation

    Tsinghua University · Dalian University of Technology · Tongji University +2

  11. DexBioLab: Benchmarking Dexterous Manipulation with Dynamic Experimental Phenomena in Realistic Laboratories

    Oct 9, 2026Xuanye Wu, Yue Shi, Yongcan Yang +8Robot Manipulation BenchmarksRobotic Manipulation

    Shanghai AI Laboratory · Huazhong University of Science and Technology · University of Southern California +1

  12. Reflex: Visually Grounded Reactive Humanoid Control

    Oct 8, 2026Taoyang Jia, Weikai Huang, Linxin Song +6Humanoid Robot ControlVision-Based Robot Control

    University of Washington · Stanford University · University of Southern California +3

  13. Same Action, Different Outcome: Variability in Dynamic Cloth Manipulation

    Oct 7, 2026Mahed Dadgostar, Guillem Alenyà, Júlia BorràsDeformable Object ManipulationRobotic Manipulation

    Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Spain

  14. Robotic Boomerang Throwing via Model-Based Release Design

    Oct 7, 2026Yang Liu, Colin Jones, Aude BillardRobotic ManipulationDynamic Robotic Manipulation

    Learning Algorithms and Systems Lab (LASA), EPFL, Switzerland · Automatic Control Lab, EPFL, Switzerland

  15. Point It, Strike It: Direction-Conditioned Dynamic Manipulation of Deformable Linear Objects

    Oct 7, 2026Yi Yang, Xiang Fei, Lehong Wang +9Deformable Object ManipulationDynamic Robotic Manipulation

    The Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213 USA. · School of Ocean and Civil Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Minhang District, Shanghai, China. · Zhiyuan College, Shanghai Jiao Tong University, 800 Dongchuan Rd, Minhang District, Shanghai, China. +1

  16. Fast Planning for Multi-object Multi-target Throwing

    Oct 6, 2026Zhengming Zhu, Yang Liu, Xiao Gao +1Robotic ManipulationRobot Motion Planning

    Learning Algorithms and Systems Laboratory (LASA), EPFL, Switzerland

  17. DSDyn-VLA: A Dual-Stream Dynamic Manipulation Framework with Motion Perception, Future Awareness, and Realtime Correction

    Sep 30, 2026Wenhao Li, Xiu Su, Yu Han +3Feedback ControlVision-Language-Action Models

    University of Sydney · Central South University · University of California, San Diego +1

  18. Dynamic Manipulation with World-Action Models via Counterfactual Planning

    Sep 27, 2026Sunwoo Park, Wonbin Lee, Seonghyun Jin +3Dynamic Robotic ManipulationWorld Model-Based Planning

    Kim Jaechul Graduate School of AI, KAIST, Korea

  19. Humanoid Badminton: Learning Dynamic Racket Skills from Limited Human Motion Data

    Sep 25, 2026Jingzhi Cui, Zhexiong Wang, Bangjie Xu +9Robot Skill LearningRobotics

    Tsinghua University · Hong Kong Embodied AI Lab · Zhejiang University +3

  20. DualManip: Agentic Dynamic Manipulation via Dual-Path Semantic Reasoning and Geometric Adaptation

    Sep 25, 2026Chengxi Li, Yan Di, Yingyue Li +3Robotic GraspingLanguage-Conditioned Robot Manipulation

    Department of Automation, Tsinghua University, China · School of Computer Science and Technology, Harbin Institute of Technology (Shenzhen), China · Beijing Institute of Control Engineering, China

  21. HIRE: History-Conditioned Interaction Reasoning and High-Rate Execution for Visually Aliased Precision Manipulation

    Sep 25, 2026Rongji Li, Wenhao He, Cewu Lu +2Robotic ManipulationContact-Rich Robotic Manipulation

    MAIS, Institute of Automation, Chinese Academy of Sciences, Beijing, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China · Zhongguancun Academy, Beijing, China +2

  22. Body-Grounded Replanning for Physically Adaptive Manipulation

    Sep 24, 2026Namiko Saito, Hiroshi KeraRobotic ManipulationDynamic Robotic Manipulation

    Microsoft Research Asia - Tokyo · Waseda University · Chiba University +1

  23. Manipulation with Stability Guarantees: Linear Deformable Objects with Non-negligible Physical Response Grasped at Multiple Location

    Sep 22, 2026Daniel Feliu-Talegon, Cosimo Della SantinaDeformable Object ManipulationFeedback Control

    Department of Cognitive Robotics, Delft University of Technology, 2628 CN Delft, The Netherlands · Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Oberpfaffenhofen, Germany

  24. MotionForge: A Data Generation Pipeline and Large-Scale Benchmark for Long-Horizon Manipulation of Dynamic Objects with Domain Shifts

    Sep 22, 2026Mohan Liu, Dengchen Mei, Haotian Xian +7Long-Horizon Robotic ManipulationGeneralization in Robotic Manipulation

    Embodied Perception and Interaction Lab (EmPACT Lab), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, and the Agency for Science, Technology and Research (A*STAR), Singapore · Beijing Normal-Hong Kong Baptist University (BNBU), Zhuhai, Guangdong, China

  25. Optimize, Learn, Refine: Whole-Body Grasping and Pick-and-Throw with a Spiral Soft Robot

    Sep 22, 2026Marwah Basuhai, Tingcong Liu, Ibrahim Alsarraj +2Robotic GraspingWhole-Body Robotic Manipulation

  26. DynaForge: Planning-Guided Residual Learning for Dynamic Manipulation Demonstration Generation

    Sep 22, 2026Yiyang Jin, Yu Zheng, Xiao He +1Synthetic Data Generation for RoboticsRobot Motion Generation

    School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China. · LandSpace Technology Co.,Ltd., China

  27. RopeFormer: Cross-Trial Adaptation from Interaction History for Dynamic Rope Manipulation

    Sep 20, 2026Menglin Wu, Kaixiang Yao, Shangbo Luan +2ICL for RoboticsDeformable Object Manipulation

    University of California, Berkeley · Xi’an Jiaotong University · Southern University of Science and Technology +1

  28. Shared Execution-Clock Drifting Policy for Dynamic Precision Manipulation

    Sep 20, 2026Zhenchen Dong, Qingran Wu, Jinna Fu +4Dynamic Robotic ManipulationReal-Time Robot Control

    The Hong Kong Polytechnic University. · University of California San Diego. · Zhejiang University. +2

  29. Embodied Snap: Octopus-Inspired Distributed Reach-and-Attach with a Speed-Limited Soft Arm

    Sep 19, 2026Linxin Hou, Zhihang Qin, Heyang Zou +5Robotic ControlSoft Robotics

    Department of Electrical and Computer Engineering, National University of Singapore, Singapore · Department of Mechanical Engineering, National University of Singapore, Singapore · Department of Computer Science, National University of Singapore, Singapore +3

  30. Becoming a Fruit Ninja: Real-Time Probabilistic Kinodynamic Planning for Manipulator Projectile Interception

    Sep 18, 2026Lucas Chen, Austin Garrett, Andrew Niu +1Dynamic Robotic ManipulationKinodynamic Motion Planning

    Department of Computer Science, Purdue University, West Lafayette, IN, USA