Force-Controlled Robotic Manipulation

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29 papers in the last four weeks, up 867% on the four weeks before. 0.3% of all new papers.

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  1. Factorized Tactile Representation and Control for Sim-to-Real Manipulation

    Oct 7, 2026Siqi Shang, Bianca Aumann, Tye Brady +2Sim-to-Real TransferTactile Sensing for Robotic Manipulation

    Amazon Fulfillment Technologies & Robotics, Westborough, MA, USA. · Department of Electrical and Computer Engineering, The University of Texas at Austin, Austin, TX, USA.

  2. Tactile Reconstruction of Contact Task Frames and Forces for Hybrid Force/Motion Control

    Oct 7, 2026Antonio Rapuano, Simone Orelli, Barbara Bazzana +2Force-Controlled Robotic ManipulationTactile Sensing

    Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy. · Robotics and Mechatronics Department, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands.

  3. Contact-Aware Imitation Learning Through Contact Factorization

    Oct 7, 2026Jiho Hong, Daeun Song, Sanghyun Kim +1Contact-Rich Robotic ManipulationImitation Learning

    Kyung Hee University · Ewha Womans University · University of Central Florida

  4. HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids

    Oct 6, 2026An Dang, Arturo Flores Alvarez, Yu-Ming Chen +5Humanoid Loco-ManipulationWhole-Body Control

    Amazon · University of Michigan · University of California, Los Angeles +1

  5. PEARS: Physical-Prior-Guided Efficient Adaptation via Failure Reasoning and Diffusion Steering for Tactile Manipulation

    Oct 6, 2026Kun Song, Yiming Wang, Yilin Chen +5Robot Policy AdaptationRobotic RL

    The University of Hong Kong · Shanghai Jiao Tong University · Xense Robotics +1

  6. Seeing Through the Displaced Frame: Privileged Noise Distillation for Vision-Force Precision Assembly

    Oct 6, 2026Ching-Hsiang Chang, Tzu-Yu Chuang, Yi-Hsiu Lee +3Robotic ManipulationForce-Controlled Robotic Manipulation

    National Tsing Hua University, Hsinchu, Taiwan. · National Yang Ming Chiao Tung University, Hsinchu, Taiwan.

  7. ReDex: Repairing Sim-to-Real Dexterous Policies by Finger-Level Compliant Interaction

    Oct 5, 2026Jinzhou Li, Hadi Tabatabaee, Kelin Yu +6Sim-to-Real TransferRobotic Manipulation

    Amazon · Duke University · University of Maryland, College Park +2

  8. Virtual model control for compliant reaching under uncertainties

    Oct 5, 2026Yi Zhang, Daniel Larby, Fumiya Iida +1Robotic ControlRobotic Manipulation

    Department of Engineering, University of Cambridge, UK.

  9. Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control

    Sep 29, 2026Johannes Hechtl, Yannik Blei, Simon Ball +5Contact-Rich Robotic ManipulationForce-Controlled Robotic Manipulation

    Siemens Research and Predevelopment · Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg, Germany

  10. FP2: Equipping Robotic Foundation Models with Force Control

    Sep 29, 2026Hongjie Fang, Shirun Tang, Junjian Hu +8Robotic ControlContact-Rich Robotic Manipulation

    FORTE Lab. · Noematrix. · SJTU. +7

  11. HACo: Learning Haptic Active Compliance for Force-Aware Dexterous Manipulation

    Sep 29, 2026Naisheng Ye, Yinzhe Zhou, Junkai Zhao +5Contact-Rich Robotic ManipulationRobotic Manipulation

    The University of Hong Kong, Hong Kong SAR, China · Beijing Academy of Artificial Intelligence (BAAI), Beijing, China · Johns Hopkins University, Baltimore, MD, USA

  12. KPI: A Promptable Kernel for Physical Interaction on Humanoids

    Sep 28, 2026Yikai Wang, Honghao Zhu, Xiao Hu +5Humanoid Robot ControlImpedance Control

    Carnegie Mellon University. · Autel US. · Northeastern University.

  13. Contact-Aware Impedance Controller for Robot-Assisted Ultrasound Imaging

    Sep 28, 2026MD Miraj Arefin, M Efe TiryakiImpedance ControlUltrasound Imaging

    Center for Robotics and AI (ROMER), Middle East Technical University, Ankara, Turkey

  14. FoLD: Force-Informed Learning for Dexterous Articulated Object Manipulation

    Sep 27, 2026Haowei Shen, Tingai Li, Yumeng Liu +6Cross-Embodiment Robot LearningRobotic Manipulation

    University of Science and Technology of China · Institute of AI for Industries, Chinese Academy of Sciences · Jiangsu Key Laboratory of AI for Industries +1

  15. Real-Time Force Regulation for Whole-Hand Dexterous Grasping

    Sep 24, 2026Sang Min Kim, Alexander Alexiev, Tzu-Yuan Lin +3Robotic GraspingDexterous Manipulation

    Department of Electrical and Computer Engineering, Seoul National University, Seoul, Republic of Korea. · Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA. · Department of Artificial Intelligence, Yonsei University, Seoul, Republic of Korea.

  16. What is the Better Curriculum: Controller-Shaped Grasping Behavior for Contact Force-Sensitive Manipulation

    Sep 22, 2026Ziyan Feng, Zizhao Yuan, Yulong Fu +6Robotic GraspingForce-Controlled Robotic Manipulation

    The Hong Kong University of Science and Technology (Guangzhou)

  17. VisForce: Visual Grounding of Current and Desired Forces for Goal-Conditioned Dexterous Manipulation

    Sep 22, 2026Jung-Woo Lee, Soo-Chul LimContact-Rich Robotic ManipulationRobotic Manipulation

  18. PAKT: Physically-Aligned Kinesthetic Teaching for Reinforcement Learning

    Sep 22, 2026Lars Johannsmeier, Yashraj NarangRobotic ControlRL for Robotics

    NVIDIA

  19. Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation

    Sep 21, 2026Zongyuan Zhang, Christopher Lehnert, Will N. Browne +1RL for RoboticsHumanoid Robot Control

    School of Electrical Engineering and Robotics, Queensland University of Technology, 2 George St, Brisbane, 4000, Queensland, Australia. · Australian Cobotics Centre, Queensland University of Technology, 2 George St, Brisbane, 4000, Queensland, Australia. · Centre for Robotics, Queensland University of Technology, 2 George St, Brisbane, 4000, Queensland, Australia.

  20. Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback

    Sep 21, 2026Amit Kumar, Sri Harsha Turlapati, Gautami Golani +3Robotic ManipulationForce-Controlled Robotic Manipulation

    School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore · School of Science and Technology, Singapore University of Social Sciences, Singapore · Centre for Systems and Control, Indian Institute of Technology Bombay, Mumbai, India +1

  21. Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation

    Sep 21, 2026Fukang Liu, Yipu Chen, Jaehwi Jang +3Contact-Rich Robotic ManipulationHumanoid Robot Control

    Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA

  22. ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks

    Sep 20, 2026Chengyi Xing, Shaoxiong Yao, Diego Romeres +1Contact-Rich Robotic ManipulationDiffusion Policy

    Mitsubishi Electric Research Labs, Cambridge, MA, US

  23. CompVLA: A Variable Compliance Vision-Language-Action Model for Contact-rich Manipulation

    Sep 20, 2026Jongmin Kim, Junsu Ha, Che-Sang Park +5Contact-Rich Robotic ManipulationRobotic Manipulation

    Seoul National University · Microsoft Research Asia

  24. Compliance for Free: Learning Identifiable Impedance via Bilateral Teleoperation

    Sep 17, 2026Harsha Guda, Adrià Colomé, Carme TorrasRobotic ControlContact-Rich Robotic Manipulation

    Institut de Rob`otica i Inform`atica Industrial, CSIC-UPC Barcelona, Spain

  25. Dreaming the Sound of Contact: Leveraging Video and Audio Generation for Zero-Shot Force-Aware Manipulation and Data Generation

    Sep 16, 2026Guanhua Ji, Tianyu Li, Dayoon Suh +3Contact-Rich Robotic ManipulationSynthetic Data Generation for Robotics

    GRASP Lab, University of Pennsylvania, PA 19104, USA

  26. TAO-Force: Unifying Force-Aware Perception and Fast-Slow Control for Contact-Rich Manipulation

    Sep 16, 2026Bohan Gan, Xuanzhang Wen, Yongsheng Zhao +8Contact-Rich Robotic ManipulationForce-Controlled Robotic Manipulation

    China Mobile (Hangzhou) Information Technology Co., Ltd., Hangzhou 310023, China

  27. ForceDelta-VLA: Distilling Force-Conditioned ActionCorrections for Contact-Rich Manipulation

    Sep 16, 2026Ju Dong, Yu Fu, Jian Chen +9Contact-Rich Robotic ManipulationForce-Controlled Robotic Manipulation

    TAMS (Technical Aspects of Multimodal Systems), Department of Informatics, University of Hamburg, Hamburg, Germany. · University of Science and Technology of China, Hefei, China. · Technical University of Munich, Germany.

  28. CLASP: A Cluster-Level Autonomous Selective Picking Robot with a Soft Rolling-Band Gripper for Fresh-Market Blueberry Harvesting

    Sep 16, 2026Yixuan Xia, Yilin Cai, Natalia Belen Espinoza +4Robotic GraspingForce-Controlled Robotic Manipulation

    George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 USA · Department of Crop & Soil Sciences, University of Georgia, Athens, GA 30605, USA · Bio-Sensing, Automation, and Intelligence Laboratory, Department of Agricultural and Biological Engineering, University of Florida, Gainesville, Florida 32611, USA +3

  29. XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation

    Sep 14, 2026Xiwen Dengxiong, Xueting Wang, Ke Jing +2Tactile SensingContact-Rich Robotic Manipulation

    Rochester Institute of Technology, Rochester, NY · TikTok Pico Lab, San Jose, CA · The Hong Kong University of Science and Technology, Guangzhou, China

  30. Continuous Manifold-Decomposed Impedance Retargeting for Contact-Rich Imitation Learning

    Sep 14, 2026Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1Impedance ControlForce-Controlled Robotic Manipulation

    Department of Mechano-Informatics Graduate School of Information Science and Technology, The University of Tokyo Tokyo, Japan