Generalization in Robotic Manipulation

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48 papers in the last four weeks, up 500% on the four weeks before. 0.5% of all new papers.

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  1. A Minimal Optical-Flow Representation for Vision-Based Tactile Rotation Classification in Robotic Manipulation Across Gravity Domains

    Oct 8, 2026Oscar Martinez-Bernal, Mario Cavero-Vidal, Francesco Grella +1Tactile Sensing for Robotic ManipulationVision-Based Tactile Sensing

    Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg · Eurecat, Centre Tecnològic de Catalunya, Robotics and Automation Unit, Barcelona, Spain

  2. OmniDex: Scaling Dexterous Hand Grasping to Diverse Cluttered Scenes

    Oct 8, 2026Naiyu Fang, Zhongjin Luo, Yuxin Mo +7Robotic GraspingRobot Manipulation Benchmarks

    ACE Robotics · CUHK, MMLab · CPII under InnoHK +4

  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. IronMan: Information-Constrained Video-Action Learning for Robot Manipulation

    Oct 6, 2026Yuanshuo Zhang, Wenzhe Zhao, Zixing Lei +2Information BottleneckGeneralization in Robotic Manipulation

    Shanghai Jiao Tong University · Joy Future Academy, JD

  5. MobileVISTA: Generative Data Augmentation for Pose Generalization in Mobile Manipulation

    Oct 5, 2026Suzannah Wistreich, Stephen Tian, Isabella Huang +4Synthetic Data AugmentationMobile Manipulation

    Stanford University · Toyota Research Institute

  6. Towards Robust Prehensile Manipulation in Open-Ended Environments

    Oct 5, 2026Mathilde Kappel, Mahdi Khoramshahi, Louis Annabi +2Robotic GraspingDexterous Manipulation

    Sorbonne Universit´e, CNRS, Institut des Syst`emes Intelligents et de Robotique (ISIR), Paris, France

  7. Do VLAs Understand and Adapt to the Objects They Handle, or Simply Replay Learned Behaviors?

    Oct 5, 2026Xinnuo XuGeneralization in Robotic ManipulationVision-Language-Action Models

  8. Continual Learning for 6-DoF Grasp Synthesis via Experience and Demonstrations

    Oct 1, 2026Giulio Schiavi, Andrei Cramariuc, Michael Pantic +1Robotic GraspingContinual Robot Learning

    Autonomous Systems Lab ETH Zurich, Switzerland · Robotics Systems Lab ETH Zurich, Switzerland

  9. Screw Attention: Rigid-Body Algebra Inside a Transformer

    Oct 1, 2026Aly MagassoubaMultibody DynamicsEquivariant Neural Networks

    School of Computer Science, University of Nottingham, Nottingham, United Kingdom

  10. Text-to-3D Policy: Fine-Grained Language-Behavior Alignment for Unseen Specification Generalization

    Sep 30, 2026Xinhao Yang, Wenhao Wu, Ning Lv +5Language-Conditioned Robot ManipulationGeneralization in Robotic Manipulation

    Nanjing University · Australian National University · University of Technology Sydney

  11. OccluDex: Hierarchical 3D Visuo-Tactile Representation Learning for Egocentric Dexterous Manipulation under Self-Occlusion

    Sep 30, 2026Ziheng Xu, Yueyuan Chen, Xinyuan He +6Visuo-Tactile Representation LearningGeneralization in Robotic Manipulation

    Shanghai Jiao Tong University · Tongji University · The Chinese University of Hong Kong, Shenzhen

  12. Cue the Flow: Steering Flow-Matching Policies for Open-World Delivery Manipulation

    Sep 30, 2026Haoxuan Wang, Griffin Galimi, Junhua Huang +4Language-Conditioned Robot ManipulationGeneralization in Robotic Manipulation

    University of Illinois Chicago · University of California, Los Angeles

  13. Memorize, Adapt, Ignore: Diagnosing Robot Learning Mechanisms under Training Data Variation

    Sep 29, 2026Ke Zhang, Danica J. Sutherland, Chao LiuDomain RandomizationRobot Policy Adaptation

    PRIME Robotics Lab, Department of Mechanical Engineering, The University of British Columbia · Department of Computer Science, University of British Columbia · Alberta Machine Intelligence Institute

  14. Counterfactual Video Generation Enables Scalable Humanoid Loco-Manipulation

    Sep 29, 2026Zihan Wang, Zhen Wu, Pieter Abbeel +6HOI GenerationHumanoid Loco-Manipulation

    Amazon FAR · UC Berkeley · Stanford +1

  15. MotorMind: Scaffolding General Vision Language Models for Zero-Shot Robot Manipulation

    Sep 29, 2026Bingxuan Li, Siqi Song, Yizhuo Wu +3Zero-Shot Robotic ManipulationGeneralization in Robotic Manipulation

    University of Illinois Urbana-Champaign

  16. In-Context Learning for Robots: Methods and Applications

    Sep 28, 2026Haojian Huang, Zexi Li, Junhao Guo +36ICL for RoboticsGeneralization in Robotic Manipulation

    Knowin AI · HKUST(GZ) · The Chinese University of Hong Kong +5

  17. X-Reset: Scaling Object-Centric Reinforcement Learning via Cross-Embodiment Resets

    Sep 28, 2026Prithwish Dan, Chenyang Ma, Wei ZhanReinforcement LearningGeneralization in Robotic Manipulation

    Applied Intuition · University of North Carolina at Chapel Hill · University of California, Berkeley

  18. UMR: Universal Manipulation Representation

    Sep 28, 2026Song Liu, Linyi Li, Yanshun Zhao +11Zero-Shot Robotic ManipulationGeneralization in Robotic Manipulation

    University of Science and Technology of China, Hefei, China. · Suzhou Artificial Intelligence Laboratory, Suzhou, China.

  19. Test-Time Spatial Reasoning for Robot Manipulation Using Generative Real-to-Sim

    Sep 27, 2026Ivan Kapelyukh, Yafei Hu, Ran Gong +63D Spatial ReasoningRobotics Simulation

    Robotics and AI Institute · Imperial College London

  20. RAPID: Robot Agentic Programming from Demonstrations

    Sep 24, 2026Yuyao Liu, Jiayuan Mao, David Hsu +2Contact-Rich Robotic ManipulationGeneralization in Robotic Manipulation

    Massachusetts Institute of Technology · National University of Singapore · University of Pennsylvania +1

  21. KeyGen: Unsupervised Keypoint based Object-Centric Representations for Category-Level Policy Generalization

    Sep 23, 2026Shuxin Cao, Liquan Wang, Masoud Moghani +2Point Cloud LearningGeneralization in Robotic Manipulation

    Georgia Institute of Technology · University of Toronto

  22. Generalizing Manipulation Skills with a Local Coding Agent

    Sep 22, 2026Raman Talwar, Elias Nijs, Andreas Verleysen +1Language Model-Based ControlCoding Agents

    IDLab-AIRO, Ghent University – imec, Belgium

  23. RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World?

    Sep 22, 2026Jiaqi Zhang, Feng Ye, Mingjia Yang +6Generalization in Robotic ManipulationRobotic Manipulation

    Peking University · Advanced Institute of Information Technology, Peking University · Memo

  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. Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation

    Sep 22, 2026Sunyu Wang, Jean Oh, Nancy S. PollardDexterous ManipulationContact-Rich Robotic Manipulation

    The authors are with the Robotics Institute at Carnegie Mellon University, Pittsburgh, USA.

  26. RoboMP-DINOv2: Prompts, Not Filters for Robust Robot Manipulation

    Sep 22, 2026Han Qi, Heng YangGeneralization in Robotic ManipulationVisuomotor Policy Learning

    Harvard School of Engineering and Applied Sciences Harvard University

  27. HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments

    Sep 21, 2026Toan Nguyen, Weiduo Yuan, Siheng Zhao +2Humanoid Loco-ManipulationHumanoid Robot Control

    University of Southern California

  28. Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface

    Sep 21, 2026Andrew Nguyen, Yonghyeon Lee, Sangbae KimRobotic GraspingContact-Rich Robotic Manipulation

    University of Michigan, Ann Arbor, MI, USA. · Department of Mechanical Engineering, MIT, Cambridge, MA, USA. · Department of AI, Yonsei University, Seoul, South Korea.

  29. InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality

    Sep 21, 2026Zhenghua Ma, Xinpan Meng, Zeyu Liu +4RL for RoboticsContact-Rich Robotic Manipulation

    School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China, and the State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · PaXini AI Technology (Beijing) Co., Ltd., Beijing 100080, China

  30. GraspTune: Tactile-Driven Execution Refinement for Robust Grasping

    Sep 21, 2026Juntao Li, Xingke Xia, Sichao Liu +1Robotic GraspingGeneralization in Robotic Manipulation

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China · KTH Royal Institute of Technology, Stockholm, Sweden