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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RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation
Jun 25, 2026Guodong Zhang, Qichen He, Wenyuan Xie +6Constrained Motion Planning Zero-Shot Robotic Manipulation
School of Computer Science, Shanghai Jiaotong University, Shanghai, P. R. China
CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
Jun 24, 2026Haonan Chen, Yuxiang Ma, Stephen Tian +7Long-Horizon Robotic Manipulation Contact-Rich Robotic Manipulation
Harvard University · Stanford University · Massachusetts Institute of Technology +1
OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
Jun 24, 2026Runyi Yu, Xiaoyi Lin, Ji Ma +11Humanoid Loco-Manipulation Long-Horizon Robotic Manipulation
Noitom Robotics · The Hong Kong University of Science and Technology · Wuhan University +1
GRAFT: Graph-Based Affordance Transfer via Part Correspondence
Jun 23, 2026Mengying Lin, Utkarsh Mishra, Ajay Mandlekar +1Zero-Shot Robotic Manipulation Generalization in Robotic Manipulation
Georgia Institute of Technology · NVIDIA
Reflective VLA: In-Context Action Consequences Make VLAs Generalize
Jun 23, 2026Qing Lian, Kent Yu, Lei ZhangICL for Robotics Generalization in Robotic Manipulation
Futian Laboratory · International Digital Economy Academy (IDEA) · Visincept
InSight: Self-Guided Skill Acquisition via Steerable VLAs
Jun 23, 2026Maggie Wang, Lars Osterberg, Stephen Tian +5Robot Skill Learning Large Language Model-Based Robot Planning
Stanford University · Princeton University
RoBoSR: Structured Scene Representations for Embodied Robotic Reasoning
Jun 23, 2026Kewei Hu, Wanchan Yu, Fangwen Chen +6Long-Horizon Robotic Manipulation Generalization in Robotic Manipulation
SPACE: Enabling Learning from Cross-Robot Data Toward Generalist Policies
Jun 23, 2026Haeone Lee, Byeongguk Jeon, Suchae Jeong +2Robotic Control Robot Policy Adaptation
1KAIST · 2Config · 3Yonsei University
LaST-HD: Learning Latent Physical Reasoning from Scalable Human Data for Robot Manipulation
Jun 22, 2026Jiaming Liu, Yinxi Wang, Chenyang Gu +15World Models for Robotics Generalization in Robotic Manipulation
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · The Chinese University of Hong Kong · Aether Tech +1
Joint Discovery of Object and Action Symbols through Effect Prediction for Robotic Manipulation Planning
Jun 22, 2026Burcu Kilic, Berke Kartal, Fatih Dogangun +2Generalization in Robotic Manipulation Robotic Manipulation
Bogazici University · Ozyegin University · Osaka University
Cloak: Zero-Shot Cross-Embodiment Manipulation by Masking the End-Effector from the VLA
Jun 22, 2026Michael Piseno, Guy Tevet, C. Karen LiuZero-Shot Robotic Manipulation Language-Conditioned Robot Manipulation
Stanford University
EgoSteer: An Open-Source Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos
Jun 21, 2026Yifan Zhong, Zhang Chen, Tianrui Guan +15Long-Horizon Robotic Manipulation Robot Skill Learning
Institute for AI, PKU · PKU-PsiBot Joint Lab · UPenn
Wh0: Generative World Models as Scalable Sources of Egocentric Human Hand Manipulation Data
Jun 20, 2026Yangtao Chen, Zixuan Chen, Peiyang Wang +4HOI Generation Generalization in Robotic Manipulation
Shanghai Innovation Institute · Nanjing University · Shanghai Jiaotong University
KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation
Jun 20, 2026Qianxu Wang, Kuan FangZero-Shot Robotic Manipulation Generalization in Robotic Manipulation
Cornell University
Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization
Jun 19, 2026Le Qiu, Cole Harrison, Jiankai Sun +5RL for Robotics Robotic Grasping
Tsinghua University · Amazon · Stanford University +1
Factor-Aware Mixture-of-Experts with Pretrained Encoder for Combinatorial Generalization
Jun 19, 2026Feihong Zhang, Guojian Zhan, Zeyu He +8Mixture of Experts Generalization in Robotic Manipulation
Tsinghua University, Beijing, China · SunRisingAI Ltd., Beijing, China · EFORT Intelligent Robot Co., Ltd., Anhui, China
MV-WAM: Manifold-Aware World Action Model with Value Augmentation
Jun 19, 2026Jintao Chen, Peidong Jia, Qingpo Wuwu +13RL Control Cross-Modal Representation Learning
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · Beijing Innovation Center of Humanoid Robotics
Inductive Generalization for Robotic Manipulation
Jun 19, 2026Annabella Macaluso, Haochen Zhang, Ishaan Masilamony +2OOD Generalization Generalization in Robotic Manipulation
Carnegie Mellon University
MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs
Jun 18, 2026Zheyu Zhuang, Ruiyu Wang, Giovanni Luca Marchetti +2Robot Skill Learning Generalization in Robotic Manipulation
Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden · Department of Mathematics, KTH Royal Institute of Technology, Stockholm, Sweden
One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies
Jun 17, 2026Chuer Pan, Litian Liang, Dominik Bauer +4Data Augmentation Generalization in Robotic Manipulation
Stanford University · Columbia University · Toyota Research Institute
ZeroDex: Zero-Shot Long-Horizon Dexterous Manipulation via Multi-View 3D-Grounded VLM Reasoning
Jun 17, 2026Jisoo Kim, Sangwon Baik, Taeksoo Kim +4Dexterous Manipulation Zero-Shot Robotic Manipulation
Seoul National University · RLWRLD
Object-Centric Residual RL for Zero-Shot Sim-to-Real VLA Enhancement
Jun 17, 2026Kinam Kim, Namiko Saito, Heecheol Kim +3Reinforcement Learning Zero-Shot Robotic Manipulation
KAIST, South Korea · Microsoft Research Asia - Tokyo, Japan · The University of Tokyo, Japan
Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures
Jun 16, 2026Bowen Li, Mayank Mishra, Y. Isabel Liu +7Robot Skill Learning Generalization in Robotic Manipulation
CMU · Centaur AI · Princeton +3
EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioning
Jun 16, 2026Wanhao Niu, Qiyan Ke, Yuan Sun +5Robotic Grasping Generalization in Robotic Manipulation
Department of Computer Science and Technology, Tsinghua University, Beijing, China · Beijing Moce Future Technology Co., Ltd., Beijing, China
Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models
Jun 16, 2026Haoqi Yuan, Zhixuan Liang, Anzhe Chen +20Robot Skill Learning Robot Foundation Models
Qwen Team
Human Universal Grasping
Jun 15, 2026Kevin Yuanbo Wu, Tianxing Zhou, Isaac Tu +5HOI Generation Robotic Grasping
New York University · Tsinghua University · University of Michigan
ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies
Jun 15, 2026Zenan Wu, Bingqing Wei, Lu Liu +8Robot Skill Learning Language-Conditioned Robot Manipulation
1Beijing Academy of Artificial Intelligence · 2Peking University
SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
Jun 13, 2026Wenkang Hu, Haoran Wang, Yitong Li +10Zero-Shot Robotic Manipulation Robot Skill Learning
1Shanghai Jiao Tong University · 2Horizon Robotics · 3Style3D Research
$μ_0$ : 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
Improving Robotic Generalist Policies via Flow Reversal Steering
Jun 11, 2026Andy Tang, William Chen, Andrew Wagenmaker +2RL for Robotics Robot Policy Learning
Stanford University · UC Berkeley

Jun 25, 2026, cs.ROJ/K move · Enter open · S save

RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation

Guodong Zhang, Qichen He, Wenyuan Xie, Shaokai Wu+5

School of Computer Science, Shanghai Jiaotong University, Shanghai, P. R. China

Constrained Motion Planning Zero-Shot Robotic Manipulation Language-Conditioned Robot Manipulation Generalization in Robotic Manipulation Robotic Manipulation Articulated Object Manipulation+1

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Bridging abstract semantics and precise physical control remains a fundamental challenge in open-world robotic manipulation. While recent data-driven policies show promise, their reliance on isolated contact points or latent affordance embeddings lacks the rigorous kinematic constraints necessary for complex articulated objects.To overcome the limitation, we introduce RelAfford6D, a novel training-free framework centered on a Relational 6D Affordance Graph. Given a free-form instruction, our system deduces a semantic topology linking a primary interacting part to its physical anchor. By elevating these topological nodes into precise metric

SE(3)

poses via vision foundation models, we analytically formulate downstream execution as a kinematic constraint satisfaction problem. The robot synthesizes continuous trajectories by tracking strictly defined physical manifolds (e.g., revolute or prismatic orbits). Coupled with a closed-loop tracking mechanism for dynamic replanning against disturbances, our physically grounded approach achieves superior zero-shot success rates, cross-category generalization and execution robustness in both simulation and the real world environments, outperforming existing data-driven baselines.

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Latest papers 235