Generalization in Robotic Manipulation

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PrimitiveVLA: Learning Reusable Motion Primitives for Efficient and Generalizable Robotic Manipulation
May 27, 2026Yutai Li, Shaohui Peng, Jiaming Guo +8Long-Horizon Robotic Manipulation Robot Skill Learning
State Key Lab of Processors, Institute of Computing Technology, CAS · Jiangsu Key Laboratory of AI for Industries, Institute of AI for Industries, CAS · University of Chinese Academy of Sciences +3
Colosseum V2: Benchmarking Generalization for Vision-Language-Action Models
May 26, 2026Jeremy Morgan, Hyeonho Oh, Prajwal Vijay +7Robotics Simulation Generalization in Robotic Manipulation
Department of Computer Science, University of Southern California, Los Angeles, CA, USA · Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai, India · Fu Foundation School of Engineering and Applied Science, Columbia University, New York, NY, USA
On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning
May 26, 2026Thomas Lips, Marco Moletta, Michael C. Welle +2Generalization in Robotic Manipulation Imitation Learning
AI and Robotics Lab, IDLAB-AIRO, Ghent University-imec · Robotics, Perception and Learning Lab, (RPL), EECS, KTH Royal Institute of Technology. · INCAR Robotics AB, Stockholm, Sweden.
HyperSim: A Holistic Sim-To-Real Framework For Robust Robotic Manipulation
May 26, 2026Junyi Dong, Haotian Luo, Ziwei Xu +11Synthetic-to-Real Domain Adaptation Sim-to-Real Transfer
CloudRobo Lab, Huawei Cloud Computing Technologies Co.,Ltd. · Shanghai Jiao Tong University · The University of Hong Kong
HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos
May 24, 2026Zhi Wang, Botao He, Kelin Yu +4Zero-Shot Learning Zero-Shot Robotic Manipulation
University of Maryland
Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation
May 22, 2026Chengyu Deng, Guanqi Chen, Yizhou Chen +4Robot Policy Learning Robot Skill Learning
The University of Hong Kong · Southern University of Science and Technology
Action with Visual Primitives
May 21, 2026Weilong Guo, Yuchen Wang, Renping Zhou +5Generalization in Robotic Manipulation Visuomotor Policy Learning
Anyverse Dynamics · Tsinghua University
Beyond Pixels: Learning Invariant Rewards for Real-World Robotics From a Few Demonstrations
May 21, 2026Tengye Xu, Yangting Sun, Ziju Shen +5Reinforcement Learning Generalization in Robotic Manipulation
School of Computing and Data Science, The University of Hong Kong · 2LimX Dynamics Technology Co., Ltd · 4Peking University +2
PGDG: Physically Grounded Data Generation for Robust Bimanual Policy Learning from a Single Demonstration
May 20, 2026Cunxi Dai, Haoran Chang, Aditya Nisal +5Robot Policy Learning Bimanual Robotic Manipulation
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA · Dexmate, USA
Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum
May 20, 2026Zhizhao Liang, Yi-Lin Wei, Xuhang Chen +6Humanoid Loco-Manipulation Large Language Model-Based Robot Planning
School of Computer Science and Engineering, Sun Yat-sen University, China · Peng Cheng Laboratory, China · Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, China
Demo-JEPA: Joint-Embedding Predictive Architecture for One-shot Cross-Embodiment Imitation
May 20, 2026Jingyang He, Guangrun Li, Jieyu Zhang +3Robot Skill Learning World Models for Robotics
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · Beijing Innovation Center of Humanoid Robotics · University of Washington
Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition
May 20, 2026Benedict Quartey, Sebastian Castro, Eric Rosen +3Robot Skill Learning Generalization in Robotic Manipulation
Brown University · Robotics & AI Institute
SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework
May 19, 2026Tianshu Wu, Xiangqi Kong, Yue Chen +5Humanoid Loco-Manipulation Long-Horizon Robotic Manipulation
1CFCS, School of Computer Science, Peking University · School of Computer Science and Engineering, Beihang University
Key-Gram: Extensible World Knowledge for Embodied Manipulation
May 18, 2026Jingjing Fan, Siyuan Li, Botao Ren +1Memory-Augmented VLMs Language-Conditioned Robot Manipulation
Department of Computer Science and Technology Tsinghua University · Department of Automation Tsinghua University
From a Single Demonstration to a General Policy for Contact-Rich Manipulation
May 17, 2026Xing Li, Oliver BrockRobot Skill Learning Contact-Rich Robotic Manipulation
Robotics and Biology Laboratory, Technische Universität Berlin · Technische Universität Berlin · Science of Intelligence, Research Cluster of Excellence, Berlin +1
Learning Sim-Grounded Policies for Bimanual Rope Manipulation from Human Teleoperation Data
May 15, 2026Gina Wigginghaus, Tim Missal, Berk Guler +2Robot Policy Learning Bimanual Robotic Manipulation
Technical University of Darmstadt · Honda Research Institute Europe GmbH · German Research Center for Artificial Intelligence (DFKI) +2
Manipulation Planning for Construction Activities with Repetitive Tasks
May 13, 2026Wangyi Liu, Dasharadhan Mahalingam, Fanru Gao +2Robotic Construction Long-Horizon Robotic Manipulation
Department of Mechanical Engineering, Stony Brook University, NY, USA. · Department of Civil Engineering, Stony Brook University, NY, USA.
SID: Sliding into Distribution for Robust Few-Demonstration Manipulation
May 13, 2026Yicheng Ma, Wei Yu, Zhian Su +2Generalization in Robotic Manipulation Visuomotor Policy Learning
1Grasp Lab, Zhejiang University · 2Torch Kernel Co., Ltd.
When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulation
May 13, 2026Maxime Alvarez, Ryo Watanabe, Paul Crook +4Robot Policy Learning Generalization in Robotic Manipulation
TELEXISTENCE Inc, Foundation Model Division, Japan. · The University of Tokyo, Japan.
Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
May 12, 2026Max Siebenborn, Daniel Ordoñez Apraez, Sophie Lueth +4Flow Matching Mobile Manipulation
PEARL Lab, Dept. of Computer Science, TU Darmstadt, Germany · 2Istituto Italiano di Tecnologia, 3Hessian.AI, 4Robotics Institute Germany
HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions
May 11, 2026Zhenhao Shen, Zeming Yang, Yue Chen +5Robotic Grasping Robot Foundation Models
1Peking University · 2Tianjin University
BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
May 8, 2026Jichuan Yu, Bowei Li, Zhenran Tang +4Robotic Construction Long-Horizon Robotic Manipulation
Tsinghua University · Carnegie Mellon University
Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation
May 8, 2026Yanzhe Chen, Kevin Yuchen Ma, Qi Lv +4Robot Policy Adaptation VLM Adaptation
National University of Singapore · Institude for Information Research, A*STAR · Harbin Institute of Technology (Shenzhen).
DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation
May 3, 2026Zijian Zeng, Fei Ding, Huiming Yang +2Domain Randomization Dexterous Manipulation
Tsinghua University · Alibaba Group · Bengbu University +1
Decompose and Recompose: Reasoning New Skills from Existing Abilities for Cross-Task Robotic Manipulation
May 2, 2026Xitie Zhang, Aming Wu, Yahong HanICL for Robotics Zero-Shot Robotic Manipulation
School of Artificial Intelligence, College of Intelligence and Computing, Tianjin University, China · School of Computer Science and Information Engineering, Hefei University of Technology, China
$M^2$ -VLA: Boosting Vision-Language Models for Generalizable Manipulation via Layer Mixture and Meta-Skills
Apr 27, 2026Siyao Xiao, Yuhong Zhang, Zhifang Liu +9Language-Conditioned Robot Manipulation VLM Adaptation
Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China. · PengCheng Laboratory, Shenzhen, China. · College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China. +1
VistaBot: View-Robust Robot Manipulation via Spatiotemporal-Aware View Synthesis
Apr 23, 2026Songen Gu, Yuhang Zheng, Weize Li +6Generalization in Robotic Manipulation Novel View Synthesis
1Fudan University · 2TARS Robotics · 4NUS +1
JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy
Apr 22, 2026Tianle Zhang, Zhihao Yuan, Dafeng Chi +59Robot Skill Learning Robot Foundation Models
SynAgent: Generalizable Cooperative Humanoid Manipulation via Solo-to-Cooperative Agent Synergy
Apr 20, 2026Wei Yao, Haohan Ma, Hongwen Zhang +6Robotic Control HOI Generation
School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing 210094, China · Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China · School of Artificial Intelligence, Beijing Normal University, Beijing 100875, China +2
SpaceDex: Generalizable Dexterous Grasping in Tiered Workspaces
Apr 20, 2026Wensheng Wang, Chuanjun Guo, Wei Wei +2Robotic Grasping Dexterous Manipulation
Sun Yat-sen University, Guangzhou, China. · Stellarobot Company, Shenzhen, China.

May 27, 2026, cs.ROJ/K move · Enter open · S save

PrimitiveVLA: Learning Reusable Motion Primitives for Efficient and Generalizable Robotic Manipulation

Yutai Li, Shaohui Peng, Jiaming Guo, Di Huang+7

State Key Lab of Processors, Institute of Computing Technology, CAS · Jiangsu Key Laboratory of AI for Industries, Institute of AI for Industries, CAS · University of Chinese Academy of Sciences+3

Long-Horizon Robotic Manipulation Robot Skill Learning Generalization in Robotic Manipulation Robotic Manipulation Data-Efficient Robot Learning Vision-Language-Action Models+1

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Vision-Language-Action (VLA) models offer a promising paradigm for generalist robotic policies, yet their adaptation is hindered by data inefficiency and poor generalization. We argue that these bottlenecks stem from the prevailing Direct Instruction-to-Control Mapping, which forces models to memorize monolithic trajectories rather than reusable motion patterns, i.e., primitives. We propose PrimitiveVLA, a framework that shifts this paradigm toward a Primitive-Centric Disassemble & Assemble paradigm. Supported by a shared Multimodal Canonical Representation (MCR), PrimitiveVLA unifies two phases: (1) Fine-tuning-phase Disassembly, which uses an automated pipeline to disassemble demonstrations into reusable primitives; and (2) Inference-phase Assembly, which employs a VLM-based planner and an LLM-generated switch module for robust closed-loop execution. By disassembling tasks into reusable primitives, PrimitiveVLA enables VLA models to learn invariant motion patterns instead of task-specific trajectories. Extensive experiments show that our framework improves data efficiency and achieves superior zero-shot generalization across unseen and long-horizon tasks.

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