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. Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion

    Jul 13, 2026Solvi Arnold, Rin Karashima, Tadashi Adachi +2World Models for RoboticsLanguage-Conditioned Robot Manipulation

    SA is at NICT, Japan. Work performed while at Shinshu University, Japan. · Work performed while at Shinshu University, Japan. · RK, TA, TM are at EPSON Avasys, Japan. +1

  2. DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation

    Jul 9, 2026Yunchao Yao, Zhuxiu Xu, Tianqi Zhang +12Dexterous ManipulationLong-Horizon Robotic Manipulation

    UNC-Chapel Hill · The University of Hong Kong · UC Berkeley

  3. Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents

    Jul 9, 2026Yixian Zhang, Huanming Zhang, Feng Gao +14Long-Horizon Robotic ManipulationLanguage-Conditioned Robot Manipulation

    Tsinghua University · Striding AI · Purdue University +4

  4. SkillPlug: Unsupervised Skill Mining for Few-Shot Adaptation in Robotic Manipulation

    Jul 9, 2026Zi-han Ding, Ziwei WangRobot Policy AdaptationRobot Skill Learning

    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore

  5. Understanding and Mitigating the Video-Action Generalization Gap via Temporal Ratio

    Jul 9, 2026Utkarsh A. Mishra, Yongxin Chen, Danfei Xu +3Generalization in Robotic ManipulationVideo Action Recognition

    Georgia Tech · Amazon FAR

  6. EgoWAM: World Action Models Beyond Pixels with In-the-Wild Egocentric Human Data

    Jul 8, 2026Baoyu Li, Xinchen Yin, Mengying Lin +2World Models for RoboticsBimanual Robotic Manipulation

    Georgia Institute of Technology

  7. Compositional Motion Generation from Demonstration with Object-Centric Neural Fields

    Jul 8, 2026Ahmet Ercan Tekden, Yasemin BekirogluGeneralization in Robotic ManipulationRobot Motion Generation

    Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 Gothenburg, Sweden. · Department of Computer Science, University College London, WC1E 6BT London, U.K.

  8. GeoProp: Grounding Robot State in Vision for Generalist Manipulation

    Jul 8, 2026Guoyang Zhao, Quanhao Qian, Gongjie Zhang +5Generalization in Robotic ManipulationVisuomotor Policy Learning

    Tongji University · DAMO Academy, Alibaba Group · HuPan Lab +2

  9. PriGo: Test-Time Primitive Guidance to Diffusion and Flow Policies for Adaptive Robotic Manipulation

    Jul 8, 2026Zezeng Li, Enda Xiang, Thuy Tran +3Robot Policy LearningTest-Time Adaptation

    Ecole Centrale de Lyon, France · Beihang University, China

  10. SPECTRA: Context-Conditioned Spectral Movement Primitives for Robot Skill Generalization

    Jul 8, 2026Boxuan Zhang, Sheng Liu, Chenlin Ming +1Generalization in Robotic ManipulationRobot Motion Generation

    School of Computation, Information and Technology, Technical University of Munich, Germany · Karlsruhe Institute of Technology, Germany · The Department of Automation, Shanghai Jiao Tong University, China

  11. Pelican-VLA 0.5: Attending Before Acting Benefits Generalization

    Jul 7, 2026Zeyuan Ding, Wenhai Liu, Yang Xu +6Next-Action PredictionGeneralization in Robotic Manipulation

    Beijing Innovation Center of Humanoid Robotics (X-Humanoid)

  12. From Foundation to Application: Improving VLA Models in Practice

    Jul 7, 2026Wei Wu, Fangjing Wang, Fan Lu +21Long-Horizon Robotic ManipulationWorld Models for Robotics

  13. FuncBridge: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning

    Jul 7, 2026Chuhao Zhou, Liquan Wang, Shuxin Cao +5Robot Skill LearningGeneralization in Robotic Manipulation

    MARS Lab, Nanyang Technological University · Georgia Institute of Technology

  14. InternVLA-A1.5: Unifying Understanding, Latent Foresight, and Action for Compositional Generalization

    Jul 6, 2026Haoxiang Ma, Junhao Cai, Xiaoxu Xu +26Generalization in Robotic ManipulationVisuomotor Policy Learning

    Physical Intelligence Team, Shanghai AI Laboratory

  15. RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies

    Jul 5, 2026Tianxing Chen, Yue Chen, Zixuan Li +41Long-Horizon Robotic ManipulationLanguage-Conditioned Robot Manipulation

  16. ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning

    Jul 5, 2026Iok Tong Lei, QianZhi Li, Ying Jie Yap +5Zero-Shot Robotic ManipulationLanguage-Conditioned Robot Manipulation

    Department of Computer Science, Tsinghua University, China · National College for Excellent Engineers, Beihang University, China · Independent Researcher +1

  17. WSA1_1: a 3D-Centric World-Spatial-Action Model for Generalizable Robot Control

    Jul 4, 2026Jiahao Jiang, Jianing Zhang, Zhenhan Yin +8World Models for RoboticsRobot Foundation Models

    Tongji University; Shanghai Innovation Institution; Shanghai Magic; Koala Uran

  18. OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies

    Jul 4, 2026Kelin Yu, Haode Zhang, Harish Ravichandar +2Robot Policy AdaptationRobot Skill Learning

    University of Maryland, College Park · Georgia Institute of Technology

  19. Cross-Embodiment Robot Manipulation via a Unified Hand Action Space

    Jul 3, 2026Luis Felipe Casas, Robert Teal, Keval Shah +3Dexterous ManipulationIn-Hand Manipulation

    Intelligent Robotics and Vision Lab, University of Texas at Dallas · Intelligent Robotics and Interactive Systems Lab, Arizona State University

  20. The Moving Eye: Enhancing VLA Spatial Generalization via Hybrid Dynamic Data Collection

    Jul 2, 2026Jincheng Tang, Yilong Zhu, Zhengyuan Xie +2Generalization in Robotic ManipulationRobotic Manipulation

    Lion Rock AI Lab, China Merchants Research Institute of Advanced Technology. · The Hong Kong University of Science and Technology. · Nankai University.

  21. Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation

    Jul 1, 2026Chi Zhang, Penglin Cai, Ziheng Xi +6Contact-Rich Robotic ManipulationGeneralization in Robotic Manipulation

    1Peking University · 2BeingBeyond · 3Tsinghua University

  22. ASPIRE: Agentic /Skills Discovery for Robotics

    Jun 30, 2026Runyu Lu, Yubo Wu, Ethan Kou +11Robot Policy LearningLong-Horizon Robotic Manipulation

    NVIDIA · UMich · UIUC +2

  23. RCT: A Robot-Collected Touch-Vision-Language Dataset for Tactile Generalization

    Jun 30, 2026Jingbo He, Michael Färber, Roberto CalandraRobotic Data CollectionVisuo-Tactile Representation Learning

    ScaDS.AI, TU Dresden · 2LASR Lab, TU Dresden

  24. TactX: Learning Shared Tactile Representations Across Diverse Sensors

    Jun 30, 2026Junsung Park, Sachin Bhadang, Carmelo Sferrazza +2Cross-Modal Representation LearningContact-Rich Robotic Manipulation

    UC San Diego · Seoul National University · Amazon FAR

  25. Agentic RAG-VLM: Affordance-Aware Retrieval-Augmented Generation with Self-Reflective Planning for Robotic Grasping

    Jun 30, 2026Tao Chen, Lizheng Liu, Jiaxu Wang +4Robotic GraspingLong-Horizon Robotic Manipulation

    Fudan University, Shanghai, China · Kean University

  26. Sequential Planning via Anchored Robotic Keypoints

    Jun 29, 2026Bryce Grant, Aryeh Rothenberg, Logan Senning +3Language-Conditioned Robot ManipulationGeneralization in Robotic Manipulation

    Department of Electrical, Computer, and Systems Engineering Case Western Reserve University, United States · Department of Mechanical and Aerospace Engineering Case Western Reserve University, United States

  27. OpenSPM: An Environment-Transferable Robotic Key Spatial Pose Memory and Closed-Loop High-Frequency Flow-Matching Action Generation Model

    Jun 29, 2026Iok Tong Lei, Qingchen Xie, Yifan Wang +2Language-Conditioned Robot ManipulationGeneralization in Robotic Manipulation

    Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China · Institute for Artificial Intelligence, Tsinghua University, Beijing 100084, China

  28. Position: Vision-Language-Action Models Cannot Be Verified to Perform Physical Reasoning

    Jun 28, 2026Taozhao Chen, Ian Manchester, Huaming ChenVLM EvaluationPhysical Reasoning

    School of Electrical and Computer Engineering The University of Sydney Sydney, NSW, Australia · School of Aerospace, Mechanical and Mechatronic Engineering The University of Sydney Sydney, NSW, Australia

  29. Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning

    Jun 27, 2026Shuo Cheng, Chuye Zhang, Alfred Cueva +3Robot Skill LearningGeneralization in Robotic Manipulation

    Georgia Institute of Technology · NVIDIA Corporation

  30. Direct Action-Head Injection of A Grounded 3D Point Unlocks Spatial and Task Generalization

    Jun 26, 2026Shiang-Feng Tsai, Jin-Cheng Jhang, Yen-Ling Tai +5Generalization in Robotic ManipulationRobotic Manipulation

    National Tsing Hua University · National Yang Ming Chiao Tung University