Robotic Grasping

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31 papers in the last four weeks, up 520% on the four weeks before. 0.3% of all new papers.

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  1. Post-Grasp Kinematic Repair for Robotic Insertion via Object-in-Gripper Reorientation

    Oct 6, 2026Haegu Lee, Christoffer SlothRobotic Grasping

    The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark

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

    Oct 1, 2026Giulio Schiavi, Andrei Cramariuc, Michael Pantic +1Robotic GraspingReplay-Based Continual Learning

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

  3. Experience-Based Feasibility-Aware Generative Adversarial Imitation from Observation under Embodiment Mismatch

    Oct 1, 2026Yoshiki Takebayashi, Giovanni Perantoni, Hikaru Sasaki +2Temporally Coherent Imitation LearningEmbodiment

    Division of Information Science, Graduate School of Information Science, Nara Institute of Science and Technology (NAIST), Nara, Japan · Department of Industrial Engineering of the University of Trento, Trento, Italy

  4. Whole-Body Aerial Grasping and Lifting via Partial Visual Observations

    Sep 30, 2026Jiaye Jin, Rui Jin, Xinhang Xu +6Robotic GraspingAerial Manipulation

    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798 · College of Electronics and Information Engineering, Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai 201804, China · NTU–VinUni Joint Research Laboratory for Embodied AI and Robotics, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, and VinUniversity, Hanoi, Vietnam

  5. Beyond the Current Scene: Event-Referential Grasping with Active View Selection

    Sep 30, 2026Hyunjoon Lee, Haebeom Jung, Eunsung Cha +4Robotic GraspingViewpoint-Dependent Active Perception

    Seoul National University · NVIDIA

  6. Function beyond Form: Functional Correspondence for Cross-Embodiment Dexterous Grasp Generation

    Sep 30, 2026Bolin Zou, Wenlong Dong, Mu Ai +4Robotic GraspingCross-Embodiment Transfer

    Shenzhen Key Laboratory of Robotics and Computer Vision, Southern University of Science and Technology, Shenzhen, China. · Department of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden. · School of Artificial Intelligence, Shanghai Jiao Tong University, Shanghai, China. +1

  7. TaRL: Learning General and Physical Rewards from Tactile Demonstrations

    Sep 29, 2026Po-Yi Wu, Dao-Jan Chang, Shang-Ya Hsiao +3TactileRobotic Grasping

    National Taiwan University

  8. Steer2Grasp: Inference-Time Embodiment-Aware Steering for Diverse Physically Feasible Grasp Diffusion

    Sep 27, 2026Vignesh Vembar, Ayush Kaura, A Padmaprabhan +5Robotic GraspingInference-Time Steering

    Robotics Research Center, IIIT Hyderabad · Johns Hopkins University

  9. DualManip: Agentic Dynamic Manipulation via Dual-Path Semantic Reasoning and Geometric Adaptation

    Sep 25, 2026Chengxi Li, Yan Di, Yingyue Li +3Robotic ManipulationRobotic Grasping

    Department of Automation, Tsinghua University, China · School of Computer Science and Technology, Harbin Institute of Technology (Shenzhen), China · Beijing Institute of Control Engineering, China

  10. A Simple Gripper Interface for Simulator-Agnostic Cloth Manipulation

    Sep 24, 2026Abhilash Nayak, Franco Coltraro, Maria Alberich-Carramiñana +1Motion-Aware Clothing DynamicsGripper

    Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain · Departament de Matemàtiques, Universitat Politècnica de Catalunya, Barcelona, Spain

  11. A Support-Enhanced Granular-Jamming Gripper for RL-based Grasping with Continuum Manipulators

    Sep 24, 2026Danyu Liu, Tianlin Zhang, Wei Chen +3GripperRobotic Grasping

  12. DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches

    Sep 24, 2026Haoran Wang, Yuteng Sun, Yuanjie Li +6Robotic GraspingTactile

    Michael · Institute of Advanced Intelligence and Computing (IAIC), Agency for Science, Technology and Research (A*STAR), Singapore · Nanyang Technological University, Singapore +1

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

    Sep 22, 2026Jung-Woo Lee, Soo-Chul LimContact-Rich Dexterous ManipulationDexterous Manipulation

  14. Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation

    Sep 22, 2026Juahn Oh, Dongho Yee, Jinseok Lee +9Surgical RobotsRobotic Grasping

    Department of Transdisciplinary Medicine, Seoul National University Hospital, Seoul, Republic of Korea. · Rosota Inc., Seoul, Republic of Korea. · Eulji University College of Medicine, Daejeon, Republic of Korea. +6

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

    Sep 21, 2026Andrew Nguyen, Yonghyeon Lee, Sangbae KimRobotic GraspingProprioception

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

  16. SE(3) Neural Potential Fields for 6-DoF Trajectory Planning Directly from Images Without Explicit 3D Reconstruction

    Sep 21, 2026Jeffrey Eiyike, Masoud Ataei, Elvis Gyaase +1Robotic GraspingNeural Fields

    Department of Electrical and Computer Engineering, University of Maine, Orono, Maine, 04469, USA

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

    Sep 21, 2026Juntao Li, Xingke Xia, Sichao Liu +1Robotic GraspingTactile

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

  18. Imagine then Verify: Affordance-Targeted Active Perception for Task-Oriented Grasping in Cluttered Scenes

    Sep 20, 2026Jingzhi Cui, Xuefeng Liu, Feng Han +3Viewpoint-Dependent Active PerceptionRobotic Grasping

    School of Computer Science and Engineering, Beihang University, Beijing, China · School of Artificial Intelligence, Beihang University, Beijing, China

  19. Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement

    Sep 17, 2026Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2Robotic GraspingEnd-Effector Pose

    Deakin University, Australia

  20. RotateIt! Fast and Reliable Single-Arm Garment Unfolding via Online-Adaptive Dynamic Rotation

    Sep 17, 2026Zeqing Zhang, Zuokun Xie, Ao Fang +4GarmentsRobotic Grasping

    Nanyang Technological University · The University of Hong Kong · Chinese Academy of Sciences

  21. Grasping by interconnection: robust closing motions from coarse object templates

    Sep 16, 2026Julien Vanderheyden, Guillaume Drion, Fulvio Forni +1Robotic GraspingRobotic Hands

    Department of Electrical Engineering and Computer Science, University of Liège, Belgium · Department of Engineering, University of Cambridge, United Kingdom

  22. Calibrated Probabilistic Obstruction Reasoning with Vision-Language Models for Grasping in Clutter

    Sep 16, 2026Thanh-Tuan Tran, Ngoc-Chien Chu, Thanh Nguyen Canh +3Robotic GraspingPerception Gap

    University of Engineering and Technology, Vietnam National University, Hanoi, 10000, Vietnam · School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, 923-1211, Japan · Department of Robotics, Hanyang University, Gyeonggi-do, 15588, Korea

  23. InterMASH: A Unified Geometric Representation for Grasp Synthesis

    Sep 16, 2026Xuanze Yang, Yumeng Liu, Haiyang Xin +5Robotic GraspingCross-Embodiment Transfer

    University of Science and Technology of China, Hefei, China · Jiangsu Key Laboratory of AI for Industries and Institute of AI for Industries Chinese Academy of Sciences, Nanjing, China · Shenzhen University, Shenzhen, China

  24. Prior Evolution and Task Alignment for Aerial Grasping

    Sep 16, 2026Weiliang Deng, Zhengyang Dang, Yao Mu +1Robotic GraspingAerial Manipulation

    School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou 510275, China · AI Institute, School of Computer Science, Shanghai Jiao Tong University, Shanghai 200240, China · Differential Robotics Technology Co., Ltd., Hangzhou, China

  25. OpenDexGrasp: Open-vocabulary Task-Oriented Dexterous Grasping

    Sep 16, 2026Jiyao Zhang, Junhan Wang, Tianyu Wang +4Robotic GraspingOpen-Vocabulary

    CFCS, School of CS, PKU, China · National Key Laboratory for Multimedia Information Processing, School of CS, PKU, China · PrimeBot +1

  26. BRAVE-6D: Benchmark for Robotic Active Vision in 6DOF Pose Estimation

    Sep 15, 2026Philipp Ausserlechner, Bernhard Neuberger, Alessandro Scherl +3Category-Level Object Pose EstimationRobotic Perception

    Automation and Control Institute, TU Wien, 1040 Vienna, Austria · Department of Industrial Engineering, UAS Technikum 1200 Vienna, Austria

  27. ConGraspXL: Controllable Constraint-Conditioned Dexterous Grasping Motion Synthesis

    Sep 14, 2026Hui Zhang, Mirko Meboldt, Jie SongRobotic GraspingSynthesis

    ETH Zürich, Switzerland · HKUST (GZ) and HKUST, China

  28. Before the Tipping Point: Force-Guided Active Perception for Shape-Agnostic Estimation of 3D Centers of Mass

    Sep 14, 2026Steven M. Hyland, Jing Xiao, Cagdas D. OnalGround Reaction ForcesRobotic Grasping

    Robotics Engineering Department, Worcester Polytechnic Institute, MA 01609, USA

  29. ArtManip: Category-Level Articulated In-Hand Manipulation

    Sep 14, 2026Yang Yang, Tengyu Liu, Puhao Li +6Robotic GraspingDexterous Manipulation

    State Key Lab of CAD&CG, Zhejiang University · State Key Lab of General Artificial Intelligence, BIGAI · Tsinghua University +1

  30. Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper

    Sep 14, 2026Marko Pavlic, Moritz Geier, Timo Markert +1Robotic GraspingGripper

    Machine Vision and Perception Group, Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Munich, Germany · Resense GmbH, Klingenberg, Germany · Semantic Information Systems Group, Osnabrück University, Osnabrück, Germany

  31. Grounding Generated Video Plans in Simulation Towards Versatile Dexterous Controllers

    Sep 9, 2026Tianyue Wu, Boyuan An, Shuqi Zhao +6Hand-Object Interaction DetectionRobotic Grasping

    Sharpa Robotics · The University of Hong Kong · University of California, Berkeley

  32. EquiGQNet: Fast Grasp Quality Evaluation via Shared Equivariant Point Cloud Encoding

    Sep 7, 2026Sungwon Seo, Jaeseog Won, Jiyou Shin +5Robotic GraspingCategory-Level Object Pose Estimation

    The authors are with the Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, South Korea · The authors are with the Faculty of Intelligent Robotics, Sungkyunkwan University, Suwon 16419, South Korea

  33. Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesis

    Sep 3, 2026Sixu Yan, Shikang Wang, Binhua Huang +11Robotic GraspingRobust Cross-Domain Generalization

    School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan 430074, China · Hubei Automation Institute, Wuhan 430071, China · KEENON Robotics Co., Ltd., Shanghai 201206, China +7

  34. Non-Prehensile Throwing: A Reinforcement Learning Perspective

    Sep 1, 2026Abdullah Mustafa, Ryo Hanai, Ixchel G. Ramirez-Alpizar +4Robotic GraspingReal-World Manipulation Tasks

    National Institute of Advanced Industrial Science and Technology (AIST), Japan · Graduate School of Fundamental Science and Engineering, Waseda University, Tokyo 169-8555, Japan

  35. Potential-Guided Particle Steering for Negation-Constrained Dexterous Grasping

    Sep 1, 2026Geonho Kim, SooGon Kim, Jongmin LeeRobotic GraspingGeometric Guidance

    Department of Computer Science & Engineering, Chung-Ang University

  36. GraspHOI: Full-Body 3D Human-Object Reconstruction with Finger-Level Grasps from a Single In-the-Wild Image

    Aug 28, 2026Semin Kim, Haechan Shin, Jongyoo KimHand-Object Interaction DetectionRobotic Grasping

    Yonsei University

  37. Real-World Cooperative Bimanual Dexterous Grasp of Large Objects from Single-View Observations

    Aug 11, 2026Ziming Li, Mingxuan Wu, Jiaqi Zhang +4Robotic GraspingBimanual Manipulation

    School of Computer Science, The University of Auckland, Auckland 1010, New Zealand · College of Computer Science, Chongqing University, Chongqing 401331, China · College of Electronic and Information Engineering, Southwest University, Chongqing 400715, China

  38. A Mixed-Stiffness Anthropomimetic Fingertip Broadens the Operating Range for Coin Grasping

    Aug 8, 2026Kaigen Go, Yinlai Jiang, Hiroshi Yokoi +1Robotic Grasping

    Graduate School of Informatics and Engineering, The University of Electro-Communications, Tokyo, Japan · Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Tokyo, Japan

  39. AdaDexGrasp: Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion

    Aug 6, 2026Xirui Liang, Jiaqi Liang, Jingkai Xu +6Robotic GraspingGrasp Adaptation

    Peking University, Beijing, China · The Hong Kong University of Science and Technology, Hong Kong, China · University of California, Berkeley, CA, USA

  40. GraspMeanFlow: SE(3)-Equivariant MeanFlow for Few-Step 6-DoF Grasp Generation

    Aug 4, 2026Jiyong Kwon, Yikun Bai, Amirhossein Mollaali +1Robotic GraspingMeanflow

    School of Mechanical Engineering, Purdue University · Department of Mathematics, Purdue University

  41. MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping

    Aug 3, 2026Heng Zhang, Kevin Yuchen Ma, Mike Zheng Shou +2Robotic Grasping3D Gaussian

    Robotics & Autonomous Systems Division, Institute for Infocomm Research, Agency for Science, Technology and Research (A*STAR-I2R), Singapore · College of Computing and Data Science, Nanyang Technological University, Singapore · Show Lab, National University of Singapore, Singapore

  42. PhotoHOI: Synthesizing 3D Hand-Object Interactions from a Single RGB Photograph

    Aug 3, 2026Zhenhao Zhang, Jiajun Zhang, Wei Min +1Hand-Object Interaction Detection3D Hand

    Tsinghua University · Shadow AI

  43. GraRe: Grasp Candidate Re-Ranking for Frozen 6-DoF Grasp Detectors

    Aug 2, 2026Jibao Yuan, Yuhui Zhao, Yinzhen Lv +4Robotic GraspingDetection Performance

    College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China · Department of Engineering and Information Technology, The University of Melbourne, Parkville, Victoria 3010, Australia

  44. Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality

    Aug 1, 2026Clinton Enwerem, John S. Baras, Calin BeltaRobotic GraspingCollision-Free Trajectories

    Department of Electrical and Computer Engineering and the Institute for Systems Research (ISR), University of Maryland, College Park, MD, USA

  45. SAGP: Semantic Affordance-Guided Grasp Planning via Coarse-Zone VLM Reasoning

    Jul 31, 2026Muhayy Ud Din, Irfan HussainRobotic GraspingVision-Language Foundation Models

    KU Center for Autonomous Robotic Systems (KUCARS), Khalifa University, United Arab Emirates

  46. Speech2Grasp: Data-Efficient Transfer of Text-Conditioned Grasp Detection to Speech in Humanoid Robots

    Jul 29, 2026Hung Nguyen, Kim Nhat Minh Nguyen, Van Duc Vu +6Co-Speech Gesture GenerationRobotic Grasping

    University of California San Diego · VinMotion · Hanoi University of Science and Technology +2

  47. Reeling It In: Flexible Needle Pick Up via Thread Manipulation for Autonomous Suturing

    Jul 28, 2026Emma Huang, Zih-Yun Chiu, Neelay Joglekar +2Surgical RobotsRobotic Grasping

    Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093 USA. · Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218 USA. · CMU Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA. +1

  48. SeededGrasp: Language-Guided Grasping in Complex Scenes with Multiple Embodiments

    Jul 22, 2026Yang Xu, Gurpreet Singh Mukker, Raymond Wang +3Robotic GraspingGrasp Adaptation

    University of Toronto · Vector Institute · University of British Columbia +1

  49. Optimization of sim-to-real transfer in the humanoid robot NICO

    Jul 20, 2026Juraj Gavura, Igor FarkašRobotic GraspingHumanoid Robotics

    Department of Applied Informatics Comenius University Bratislava, Slovakia

  50. Seg2Grasp: A Robust Modular Suction Grasping in Bin Picking

    Jul 20, 2026Hye-Jung Yoon, Juno Kim, Yesol Park +2Robotic GraspingPose-Based Bin-Picking Pipeline

    1Interdisciplinary Program in AI, Seoul National University · 2Artificial Intelligence Institute, Seoul National University · Department of Computer Science, Seoul National University

  51. Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution

    Jul 15, 2026Hanyi Zhang, Khang Nguyen, Charith Munasinghe +10Robotic GraspingRobotic Manipulation

    University of Liverpool, UK · Mohamed bin Zayed University of Artificial Intelligence, UAE · Zurich University of Applied Science, Switzerland +3

  52. Towards a Modular Bin-picking Framework for Handling Object Pose Uncertainties

    Jul 15, 2026Frederik HagelskjærRobotic GraspingPose-Based Bin-Picking Pipeline

    SDU Robotics The Mærsk Mc-Kinney Møller Institute University of Southern Denmark Odense, Denmark

  53. GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation

    Jul 13, 2026Yeonseo Lee, Taeyeop Lee, Hyosup Shin +2Robotic GraspingTopology

    Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea.

  54. Monocular Vision Based Control Framework for Grasping

    Jul 8, 2026Shail Jadav, Dongheui LeeRobotic GraspingGripper

    Autonomous Systems, Technische Universität Wien (TU Wien), Vienna, Austria · Institute of Robotics and Mechatronics (DLR), German Aerospace Center, Wessling, Germany

  55. GraspIT: A Dataset Bridging the Sim-to-Real gap and back for Validated Grasping SE(3) Pose Generation

    Jul 7, 2026Paul Koch. Adem Karakurt, André SersRobotic GraspingRobotic Manipulation Policies

    Fraunhofer IPK Pascalstraße 8-9, 10587 Berlin, Germany

  56. HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors

    Jul 6, 2026Mingrui Yu, Yongpeng Jiang, Yongyi Jia +4Robotic GraspingHumanoid

    Tsinghua University

  57. Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation

    Jul 3, 2026Chenyang Ma, Yunchao Yao, Zhenyu Wei +3Contact-Rich Dexterous ManipulationProprioception

    University of North Carolina at Chapel Hill

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

    Jun 30, 2026Tao Chen, Lizheng Liu, Jiaxu Wang +4Robotic GraspingRobotic Manipulation

    Fudan University, Shanghai, China · Kean University

  59. Grasp-Oriented Non-Prehensile Manipulation via Learning a Graspability Field

    Jun 29, 2026Licheng Zhong, Gim Hee LeeRobotic GraspingGrasp Adaptation

    Department of Computer Science, National University of Singapore, Singapore

  60. DCGrasp: Distance-aware Controllable Grasp Generation

    Jun 29, 2026Hiroyasu Akada, Jesús Pérez, Emre Aksan +6Robotic GraspingDiffusion Transformers

    Google · Max Planck Institute for Informatics, SIC