Long-Horizon Robotic Manipulation

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61 papers in the last four weeks, up 578% on the four weeks before. 0.6% of all new papers.

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  1. Long-WAM: Scaling the Context of World-Action Models

    Oct 7, 2026Wei Huang, Bohan Zhang, Chenzhi Liu +13Long-Horizon Robotic ManipulationAction-Conditioned World Models

    NVIDIA · HKU · MIT +1

  2. FoldBack: Self-Correcting Masked Generative Policy for Long-Horizon Garment Folding

    Oct 7, 2026Lipeng Zhuang, Shiyu Fan, Yingdong Ru +4Long-Horizon Robotic ManipulationRobotic Manipulation

    University of Glasgow, Glasgow, United Kingdom

  3. Co2{}^{2}Skill: Whole-Body Control via Skill Composition for Long-Horizon Human-Environment Interaction

    Oct 7, 2026Jeonghwan Kim, Hyeonwoo Kim, Hanbyul JooRobot Skill LearningWhole-Body Robotic Manipulation

    Department of Computer Science Seoul National University

  4. Humanoid Horizon: Extending Task Horizon in Whole-Body Loco-Manipulation via Parallel Training, Dynamic Starting, and Reward Gating

    Oct 6, 2026Haozhuo Zhang, Qiang Zhang, Jian Tang +4Long-Horizon Robotic ManipulationWhole-Body Robotic Manipulation

    The University of Manchester · University of Science and Technology of China · X-Humanoid +2

  5. PACE: Stage-Consistent Long-Horizon Robot Manipulation via Progress-Aligned Context for Execution

    Oct 6, 2026Yenan Chen, Junjie Shi, Lu Chen +2Long-Horizon Robotic ManipulationRobotic Manipulation

    College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China

  6. EvoMem-VLA: State-Evolution Memory for Long-Horizon Robot Manipulation

    Oct 4, 2026Yuheng Na, Zhide Zhong, Junjie He +7Memory-Augmented VLMsLong-Horizon Robotic Manipulation

    Xi’an Jiaotong University · The Hong Kong University of Science and Technology (Guangzhou) · Xbotics Embodied AI Community +1

  7. RMMBench: A Comprehensive Benchmark for Robotic Mobile Manipulation

    Oct 4, 2026Huapeng Li, Fuxiang Feng, Jinqiu Fan +5VLM EvaluationLong-Horizon Robotic Manipulation

    School of Control Science and Engineering, Shandong University · Meituan Group

  8. InterEvolve: Test-Time Evolution of Reward Programs for Humanoid Loco-Manipulation

    Oct 1, 2026Zhuo Lin, Sirui Xu, Liuyu Bian +2Humanoid Loco-ManipulationReinforcement Learning

    University of Illinois Urbana-Champaign

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

    Oct 1, 2026Xuehui Yu, Eason Yu, Meiyi Wang +3Memory-Augmented VLMsLong-Horizon Robotic Manipulation

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

  10. ECoMEM: Explicit Concept Memory for Memory-Dependent Robot Control

    Sep 30, 2026Yize Liu, Ke Wang, Mac Schwager +2Robotic ControlLong-Horizon Robotic Manipulation

    Stanford University

  11. MIKASA-Robo-VLA: Benchmarking Memory in VLA Models for Long-Horizon Manipulation

    Sep 30, 2026Egor Cherepanov, Nikita Kachaev, Aleksandr I. Panov +1Memory-Augmented VLMsLong-Horizon Robotic Manipulation

    AXXX, Moscow, Russia · MIRIAI, Moscow, Russia · HSE University, Moscow, Russia

  12. DynaHarness: A Dynamic Physical Harness for Self-Evolving Robot Agents

    Sep 30, 2026Haoyuan Deng, Jiebin Liu, Tengxiao Zhang +3Long-Horizon Robotic ManipulationContinual Robot Learning

    Nanyang Technological University · Nanjing University

  13. ChunkTrust: Adapting Execution Horizons for Robot Policies with Action-Expert Evidence

    Sep 30, 2026Fanding Huang, Jingyan Jiang, Shifeng Bao +13Robot Policy LearningRobot Policy Adaptation

    Tsinghua University · Beijing Academy of Artificial Intelligence (BAAI) · Shenzhen Technology University +5

  14. RoboCoach: World Models as Active Coaches for Compositional Robot Skills

    Sep 30, 2026Jiajun Liu, Yifan Chen, Yichao Liu +7Robot Policy LearningRobot Policy Adaptation

    Renmin University of China · Tsinghua University · Shanghai Qizhi Institute +2

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

    Sep 30, 2026Zijie Diao, Yitong Chen, Sicheng Xie +7Long-Horizon Robotic ManipulationContact-Rich Robotic Manipulation

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

  16. EgoAlign: Bridging the Human-Humanoid Gap for Long-Range Loco-Manipulation

    Sep 29, 2026Yiming Jiang, Jin Chen, Chongyang Xu +3Humanoid Loco-ManipulationLong-Horizon Robotic Manipulation

    Beihang University · Alibaba Group · Shanghai Innovation Institute +1

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

    Sep 29, 2026Ahmed Nader Ahmed, Omar Moured, Mughni Irfan Mohammed Abdul +2Robot Policy AdaptationLong-Horizon Robotic Manipulation

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

  18. RoboHarn-Evo: Evolving Hierarchical Physical Knowledge for Self-Improving Robotic Manipulation

    Sep 29, 2026Shifeng Bao, Fanding Huang, Yihan Lin +7Long-Horizon Robotic ManipulationContinual Robot Learning

    School of Information, Renmin University of China · Key Laboratory of Data Engineering and Knowledge Engineering, Beijing, China · Tsinghua University +2

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

    Sep 29, 2026Vincenzo Pomponi, Rocco Felici, Paolo Franceschi +5Long-Horizon Robotic ManipulationRobot Skill Learning

    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

  20. Remember What You Did: Action-History Memory with Dual-Expert Denoising for Long-Horizon Vision-Language-Action Policies

    Sep 29, 2026Yaxin Zhao, Dianye Huang, Chenwei Wang +2Memory-Augmented VLMsLong-Horizon Robotic Manipulation

    Harbin Institute of Technology, Harbin, China. · Medical Intelligence and Robotic Cognition (MIRoC) Lab, Department of Mechanical Engineering, The University of Hong Kong (HKU), Hong Kong SAR, China. · Department of Computing, The Hong Kong Polytechnic University, Hong Kong SAR, China

  21. Staircase Policy: Streaming Inference for World-Action Models with Large Action Chunks

    Sep 29, 2026Guoheng Sun, Chen Chen, Jin Wang +2Long-Horizon Robotic ManipulationAction-Conditioned World Models

    University of Maryland, College Park · Independent Researcher · Oxford Robotics Institute, University of Oxford

  22. FineART: Fine-Grained Annotated Robotic Trajectory Dataset and Vision-Language-Action Model for Bimanual Manipulation

    Sep 29, 2026Jade Choghari, Pepijn Kooijmans, Mansi Agarwal +8Long-Horizon Robotic ManipulationLanguage-Conditioned Robot Manipulation

    Scale AI · Hugging Face · University of Southern California +1

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

    Sep 28, 2026Ziyi Yin, Sangmin Woo, Kang Zhou +4Reward ShapingLong-Horizon Robotic Manipulation

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

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

    Sep 28, 2026Yijie Lu, James Zhao, Weiming ZhiLong-Horizon Robotic ManipulationMobile Manipulation

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

  25. DexAgent: An Agentic Human2Sim2Robot Framework for Dexterous Manipulation with Self-Evolving Tool Library

    Sep 28, 2026Youhui Wang, Yunzhu Li, Li Fei-Fei +2Long-Horizon Robotic ManipulationRobotics Simulation

    Stanford University · Columbia University

  26. Spatial Grafting: Grounding 3D Features for Flow-Matching Robot Policies

    Sep 28, 2026Dingsheng Liu, Yangzheng Wu, Mahboubeh Asadi +5Robot Policy LearningLong-Horizon Robotic Manipulation

    University of Toronto · Huawei Noah’s Ark Lab · Department of Foundation Model, 2012 Labs

  27. D2^2-VLA: Dual-Memory Dual-Frequency Vision-Language-Action Model For Long Dynamic Manipulation

    Sep 28, 2026Zijian Ye, Chengqi Wei, Wei Huang +9Memory-Augmented VLMsLong-Horizon Robotic Manipulation

    The University of Hong Kong · Southern University of Science and Technology

  28. Where Memory Belongs: Ledger, an Object Ledger for Memory-Augmented VLAs

    Sep 28, 2026Tanguy Dieudonné, Jack B. Jedlicki, Heng YangMemory-Augmented VLMsLong-Horizon Robotic Manipulation

    Harvard University · ETH Zürich

  29. RoboICL: Embodied In-Context Learning with GPT-6 Astra

    Sep 28, 2026Fangcheng Liu, Yeqing Shen, Anda Cheng +7Robotic ControlICL for Robotics

    Samsung Research, Beijing, China · Samsung Robotics eXperience · Shanghai Jiao Tong University

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

    Sep 27, 2026Sichao Liu, Zekun Wang, Lixuan Tang +6Long-Horizon Robotic ManipulationRobotic Policy Evaluation

    KTH · EPFL · Idiap Research Institute +3