Long-Horizon Manipulation

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11 papers in the last four weeks, up 38% on the four weeks before. 0.1% of all new papers.

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  1. Decentralized Power-Optimal Coordination for Spacecraft Swarms Using Time-Varying Magnetorquer Actuation

    Oct 1, 2026Yuta Takahashi, Shin-ichiro SakaiUnmanned Aerial Vehicle SwarmsSpacecraft

    Department of Mechanical Engineering, Institute of Science Tokyo, Tokyo, Japan · Department of Spacecraft Engineering, Japan Aerospace Exploration Agency, Kanagawa, Japan

  2. Divide-and-Remember: Recursive Action-Relevant Memory for Long-Horizon VLA Policies

    Oct 1, 2026Xuehui Yu, Eason Yu, Meiyi Wang +3Long-Horizon ManipulationTask-Relevant Information

    National University of Singapore · Nanyang Technological University, Singapore · LISTENAI

  3. LIBERO-Agent: Evaluating General-Purpose Agents for Direct Embodied Manipulation

    Sep 30, 2026Zijie Diao, Yitong Chen, Sicheng Xie +7Embodied AgentsHuman-To-Robot Transfer

    Institute of Trustworthy Embodied AI, Fudan University · Shanghai Innovation Institute

  4. ProAct-VLM: Pre-Failure Vision-Language Task Replanning with Continuous Perception Feedback

    Sep 29, 2026Ahmed Nader Ahmed, Omar Moured, Mughni Irfan Mohammed Abdul +2Long-Horizon ManipulationPerception

    Khalifa University, Abu Dhabi, United Arab Emirates. · Sereact GmbH, Stuttgart, Germany.

  5. DROM: A Language-Guided Diffusion Framework for Multi-Skill Robotic Manipulation

    Sep 29, 2026Vincenzo Pomponi, Rocco Felici, Paolo Franceschi +5Robotic ManipulationRobotic Manipulation Policies

    Institute of Systems and Technologies for Sustainable Production (ISTePS), Department of Innovative Technologies, University of Applied Science and Arts of Southern Switzerland (SUPSI), Via la Santa 1, Lugano, CH-6900, Ticino, Switzerland. · Istituto Dalle Molle di studi sull’intelligenza artificiale (IDSIA), Department of Innovative Technologies, University of Applied Science and Arts of Southern Switzerland (SUPSI), Via la Santa 1, Lugano, CH-6900, Ticino, Switzerland. · Mechanical Department, Politecnico di Milano (PoliMi), Via Giuseppe Candiani, Milan, 20155, Italy. +1

  6. StructRL: Online Structured Reinforcement Learning for Long-Horizon Vision-Language-Action Tasks

    Sep 28, 2026Ziyi Yin, Sangmin Woo, Kang Zhou +4Long-Horizon ManipulationOffline Reinforcement Learning

    The Pennsylvania State University · Work done during an internship at Amazon · Amazon AWS AI

  7. SAKI: Skill Assembly and Kinematic Imitation from Human Videos for Long-Horizon Mobile Manipulation

    Sep 28, 2026Yijie Lu, James Zhao, Weiming ZhiHuman-To-Robot TransferMotion Imitation

    School of Computer Science, The University of Sydney, Australia · Australian Centre for Robotics, The University of Sydney, Australia

  8. Robot-GST: geometry-aware spatial-temporal robot policy representation and evaluation

    Sep 27, 2026Sichao Liu, Zekun Wang, Lixuan Tang +6Robotic Manipulation PoliciesRobot Systems

    KTH · EPFL · Idiap Research Institute +3

  9. OCC4M: Object-Centric 4D Memory for Spatiotemporal Reasoning in Long-Horizon Manipulation

    Sep 23, 2026Jack B. Jedlicki, Tanguy Dieudonné, Heng YangSpatial MemoryLong-Horizon Manipulation

    Harvard University · ETH Zürich

  10. 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 +7Robotic Manipulation PoliciesLong-Horizon 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

  11. X-Planner: Event-Structured Task Planning for Embodied Intelligence

    Sep 21, 2026Howard Lu, Shalfun Li, Porter Pan +30PlanningLong-Horizon Manipulation

    X Square Robot Team

  12. TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation

    Sep 20, 2026Hengyan Liu, Wenlve Zhou, Bo Yue +7Generalist Vision--Language--ActionLong-Horizon Manipulation

    The Chinese University of Hong Kong, Shenzhen · Foshan University · DexForce +1

  13. From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention

    Sep 18, 2026Sichang Su, Benjamin Yang, Zhiyun Deng +4Long-Horizon ManipulationRetraining

    UT Austin · Autel US · UC Berkeley

  14. MAGMA-GEN: Validated Recovery Supervision from Ambiguous Failures via Counterfactual Re-Execution

    Sep 17, 2026Loan Bernat, Matthieu Grard, Ariane Herbulot +1Long-Horizon Manipulation

    LAAS-GEPETTO · Sil´eane, LAAS-CNRS · LAAS-RAP +2

  15. MaskHarness-WAM: Instance-Grounded Harnessing for Long-Horizon Robot Manipulation

    Sep 17, 2026Zitai Huang, Taiyi Su, Jian Zhu +6Long-Horizon ManipulationVisuomotor Control

    Tongji University · AIRC, Midea Group

  16. SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies

    Aug 31, 2026Weiqi Wang, Zhi Li, Yudong Lei +7Long-Horizon ManipulationModel Predictive Control

    University of California, Los Angeles · University of California, Santa Barbara · Amazon +1

  17. Temporal Forcing: 4D Representation Alignment for Vision-Language-Action Models

    Aug 31, 2026Xingyu Ding, Yuzhong Zhao, Chunhai Zhao +3Diffusion-Based Vision-Language-ActionsPhotometric Supervision

    Nanjing University, Nanjing, China · Institute of Automation, Chinese Academy of Sciences, Beijing, China · University of Chinese Academy of Sciences, Beijing, China

  18. Behavior-Skill: A Fine-Grained Benchmark for Evaluating Vision-Language-Action Policies in Long-Horizon Tasks

    Aug 31, 2026Chunyun Ma, Lun Luo, Xingjian Luo +7Long-Horizon ManipulationGeneralizable Vision-Language-Action Policies

    College of Intelligence Science and Technology and National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China. · XPeng Inc., Guangzhou, China. · The Chinese University of Hong Kong, Hong Kong, China. +1

  19. DELE-w0.5: Inferring Action from Future Latent State for Robotic Manipulation

    Aug 22, 2026Fenghao Lei, Zhixiong Huang, Long Yang +5Efficient World-Action ModelRobotic Manipulation

    DeepLeap Research, Shenzhen, China

  20. Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memory

    Aug 17, 2026Bingxin Xu, Yuzhang Shang, Emilio FerraraLong-Horizon ManipulationRobot State

    University of Southern California · University of Central Florida

  21. Deliberate Practice: Learning Robot Skills under a Budget

    Aug 13, 2026Shivam Vats, Sudarshan Harithas, Mete Tuluhan Akbulut +2Human-To-Robot TransferLong-Horizon Manipulation

    1Brown University · 2Mitsubishi Electric Research Laboratories

  22. OnEvoMemory: Evolving Memory through Online Robot Rollouts for Pretrained Robot Policies

    Aug 9, 2026Zhongxi Chen, Shenqi ZongRobot PoliciesLong-Horizon Manipulation

    Shanghai Jiao Tong University · Tsinghua University

  23. Beyond Flat Policies: Hierarchical Post-Training for Embodied Agents in Robotic Manipulation

    Aug 6, 2026He Kong, Zengjue Chen, Qi Wang +6Robotic ManipulationLong-Horizon Manipulation

    School of Artificial Intelligence, Jilin University · College of computer science and technology, Jilin University · Joy Future Academy, JD

  24. AppDeltaWorld: Transition-Grounded Delta Code World Model for Mobile GUI Agents

    Aug 6, 2026Weikai Xu, Yunren Feng, Haoxiang Lei +6World ModelsLong-Horizon Manipulation

    1Nanyang Technological University, Singapore · University of Electronic Science and Technology of China · 3Independent Researchers +2

  25. GORDON: Graph-based Object-centric Rewards for Decomposition of Long-Horizon Manipulation

    Aug 4, 2026Andrea Protopapa, Davide Buoso, Francesca Pistilli +2Robotic Manipulation PoliciesLong-Horizon Manipulation

    Politecnico di Torino, Turin, Italy. · Interactive Robot Perception & Learning (PEARL) Lab, Computer Science Dept., TU Darmstadt, Germany. · Hessian.AI, Darmstadt, Germany. +1

  26. ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulation

    Aug 3, 2026Yuzhi Huang, Weijue Bu, Ziyi Xiong +4Long-Horizon ManipulationQueries

    Shenzhen International Graduate School, Tsinghua University · China University of Mining and Technology · Shenzhen Technology University

  27. UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis

    Jul 30, 2026Hui Zhang, Julian Ferchow, Jie Song +1Dexterous ManipulationLong-Horizon Manipulation

    ETH Zürich, Switzerland · inspire AG, Zürich, Switzerland · HKUST (Guangzhou), China

  28. CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation

    Jul 29, 2026Yushan Liu, Peibo Sun, Xintao Chao +8Action ChunksLong-Horizon Manipulation

    Tsinghua University · Shanghai Jiao Tong University · Peking University +2

  29. LEACL: LLM-Enhanced Automatic Curriculum Learning for Reinforcement Learning in Long-Horizon Manipulation Tasks

    Jul 26, 2026Faraz Heravi, James Ouyang, Zifan Xu +3Curriculum Reinforcement LearningLong-Horizon Manipulation

    The University of Texas at Austin · Nanyang Technological University · Sony AI

  30. An Empirical Study on Stage-Information Interfaces for VLA Fine-Tuning

    Jul 15, 2026Yingwei JiLong-Horizon ManipulationEmpirical Study

  31. Cortex: A Bidirectionally Aligned Embodied Agent Framework for Long-horizon Manipulation

    Jul 6, 2026Jiaqi Peng, Xiqian Yu, Delin Feng +10Long-Horizon ManipulationEmbodied Agents

    Tsinghua University · Shanghai AI Laboratory · Peking University +1

  32. Simple-to-Complex Structured Demonstrations for Vision-Language-Action Learning

    Jul 6, 2026Xinchuan Qiu, Yi YuLong-Horizon ManipulationImitation Learning

    Graduate School of Advanced Science and Engineering, Hiroshima University, Higashi-Hiroshima, Japan

  33. Chronos: A Physics-Informed Full-History Framework for Non-Markovian Long-Horizon Manipulation

    Jun 29, 2026Yulin Zhou, Yimeng Wang, Nengyu Wang +9Long-Horizon ManipulationRobot Policies

    School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

  34. S2^2-VLA: State-Space Guided Vision-Language-Action Models for Long-Horizon Manipulation

    Jun 26, 2026Zhipeng Xie, Zongyi Han, Xiangyi Wei +3Long-Horizon ManipulationRobotic Manipulation

    School of Computer Science and Technology, East China Normal University, Shanghai 200062, China · 2State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China

  35. RMTL: Reinforced Micro-task Learning for Long-Horizon Manipulation with VLM Rewards

    Jun 24, 2026Anıl Can Ateş, Orhan Kahraman, Cihan TopalRobotic ManipulationLong-Horizon Manipulation

    Istanbul Technical University

  36. Temporal Self-Imitation Learning

    Jun 18, 2026Yinsen Jia, Boyuan ChenImitation LearningLong-Horizon Manipulation

    Duke University

  37. Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback

    Jun 12, 2026Litian Liang, Jingxi Xu, Xinda Qi +7ExoskeletonTeleoperation

    1Ant Group · 2Stanford University

  38. WEAVER, Better, Faster, Longer: An Effective World Model for Robotic Manipulation

    Jun 11, 2026Arnav Kumar Jain, Yilin Wu, Jesse Farebrother +2Efficient World-Action ModelRobotic Manipulation

    Mila - Québec AI Institute · Université de Montréal · Carnegie Mellon University +1

  39. EV-WM: Event-Verified World Models for Long-Horizon Robotic Manipulation

    Jun 11, 2026Kailin Wang, Haoxiang Jie, Yaoyuan Yan +2World Model PlanningOmninwm

    1AI Lab, Country Garden Services Group · 2Fudan University · 3Omni AI

  40. SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation

    Jun 11, 2026Sunghwan Kim, Byeonghyun Pak, Kehan Long +2Long-Horizon ManipulationRobot State

    1UC San Diego · 2Agency for Defense Development · 3SceniX Inc. +1

  41. Dynamic Execution Horizon Prediction for Chunk-based Robot Policies

    Jun 9, 2026Yuchi Zhao, Miroslav Bogdanovic, Arjun Sohal +5Action ChunksLong-Horizon Manipulation

    Department of Computer Science, University of Toronto, 40 St George St., Toronto, ON M5S 2E4, Canada · Vector Institute for Artificial Intelligence, W1140-108 College St., Schwartz Reisman Innovation Campus, Toronto, ON M5G 0C6, Canada · Acceleration Consortium, 700 University Ave., Toronto, ON M7A 2S4, Canada +7

  42. HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulation

    Jun 9, 2026Xiaoquan Sun, Ruijian Zhang, Chen Cao +12Efficient World-Action ModelRobotic Manipulation

    3Huazhong University of Science and Technology · 1The University of Hong Kong · 2INFIFORCE +3

  43. SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation

    Jun 9, 2026Qianzhong Chen, Hau Zheng, Justin Yu +8Robotic ManipulationScalable Robot Learning

    Stanford University · UC Berkeley · Shanghai Jiao Tong University

  44. MotionVLA: Injecting Geometric Motion into Vision-Language-Action Model

    Jun 6, 2026Shanglin Yuan, Weiheng Zhao, Xianda Guo +4Long-Horizon ManipulationMotion

    Huazhong University of Science and Technology · D-Robotics · Wuhan University

  45. VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation

    Jun 5, 2026Siyi Chen, Hugo Hadfield, Alex Zook +9Long-Horizon ManipulationRobot State

    1NVIDIA · University of Michigan

  46. Task Editing for Generalizable 3D Visuomotor Policy Learning

    Jun 5, 2026Jian-Jian Jiang, YiHan Yang, Lan Wei +6Visuomotor PolicyLong-Horizon Manipulation

    Sun Yat-sen University · South China University of Technology · Nanyang Technological University +1

  47. Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation

    Jun 2, 2026Jiahao Xu, Peiyuan Wang, Hanzhuo Zhang +7Robotic ManipulationLong-Horizon Manipulation

    School of Computer Science and Engineering, Southeast University, China

  48. SKIP: Sparse Keyframe Interpolation Paradigm for Efficient Embodied World Models

    May 30, 2026Ziheng He, Yixiang Chen, Ning Yang +11Long-Horizon ManipulationWorld Models

    1UCAS · 2CASIA · 3NJU +3

  49. CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation

    May 19, 2026Xinyuan Luo, Xingrui Chen, Xunjian Yin +6Humanoid Loco-ManipulationEnd-Effector Pose

    Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC 27708, USA

  50. ECHO: Continuous Hierarchical Memory for Vision-Language-Action Models

    May 9, 2026Yanbin Hu, Jin Cui, Jiayi Lu +6Generalist Vision--Language--ActionLong-Horizon Manipulation

    School of Software, Xi’an Jiaotong University · State Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University · School of Artificial Intelligence, Xi’an Jiaotong University

  51. Thinking in Text and Images: Interleaved Vision--Language Reasoning Traces for Long-Horizon Robot Manipulation

    May 1, 2026Jinkun Liu, Haohan Chi, Lingfeng Zhang +6Robotic ManipulationLong-Horizon Manipulation

    Tsinghua University · Beijing Institute of Technology · Xiaomi Group

  52. Long-Horizon Manipulation via Trace-Conditioned VLA Planning

    Apr 23, 2026Isabella Liu, An-Chieh Cheng, Rui Yan +7Long-Horizon ManipulationRobot State

    University of California, San Diego · NVIDIA

  53. HELM: Harness-Enhanced Long-horizon Memory for Vision-Language-Action Manipulation

    Apr 20, 2026Zijian Zeng, Fei Ding, Huiming Yang +1Long-Horizon ManipulationEpisodic Memory

    Tsinghua University · Alibaba Group · Bengbu University

  54. LongBench: Evaluating Robotic Manipulation Policies on Real-World Long-Horizon Tasks

    Apr 18, 2026Xueyao Chen, Jingkai Jia, Tong Yang +3Long-Horizon ManipulationRobotic Manipulation Policies

    Fudan University

  55. Large Reward Models: Generalizable Online Robot Reward Generation with Vision-Language Models

    Mar 17, 2026Yanru Wu, Weiduo Yuan, Esteban Martinez Licon +4Robotic Manipulation PoliciesRobot Systems

    USC Physical Superintelligence Lab

  56. ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors

    Mar 16, 2026Zifan Xu, Ran Gong, Maria Vittoria Minniti +10Sim-To-Real Reinforcement LearningBehavior Cloning

    Robotics and AI Institute · University of Texas at Austin · Sony AI

  57. From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning

    Mar 10, 2026Zhanyi Sun, Shuran SongDistributional Reinforcement LearningRobot Policies

    1Stanford University.

  58. MIND-V: Hierarchical World Model for Long-Horizon Robotic Manipulation with RL-based Physical Alignment

    Dec 7, 2025Ruicheng Zhang, Mingyang Zhang, Jun Zhou +6Long-Horizon ManipulationEmbodied Artificial Intelligence

    Tsinghua University · Sun Yat-sen University · X Square Robot +1

  59. MOSAIC: Skill-Centric Manipulation Planning with Physics Simulation

    Apr 23, 2025Itamar Mishani, Yorai Shaoul, Maxim LikhachevClassical PlanningLong-Horizon Manipulation

    Robotics Institute, School of Computer Science, Carnegie Mellon University, United States