Long-Horizon Robotic Manipulation

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Overview

Long-horizon robotic manipulation concerns tasks that require many dependent actions, such as assembling furniture, preparing food, or moving objects through changing environments. Common approaches combine hierarchical planning and reusable skills with vision-language-action policies, world models, symbolic task representations, and memory of past actions or object states. Researchers train these systems with demonstrations, reinforcement learning, simulated experience, and human corrections, and evaluate them in multi-stage benchmarks and real-robot settings. A central challenge is that strong performance on individual skills does not guarantee reliable task completion: errors can accumulate at skill transitions, while memory, recovery, and safety remain difficult to evaluate and generalize.

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435 papers88 papers in the last four weeks, up 49% on the four weeks before. 0.5% of all new papers.

  1. EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data

    Feb 18, 2026Ruijie Zheng, Dantong Niu, Yuqi Xie +12Robotic ManipulationRobot Learning

    NVIDIA · University of California, Berkeley · University of Maryland

  2. Articulated 3D Scene Graphs for Open-World Mobile Manipulation

    Feb 18, 2026Martin Büchner, Adrian Röfer, Tim Engelbracht +53D SGGArticulated Object Manipulation

    University of Freiburg · ETH Zürich · University of Bonn

  3. Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement

    Feb 14, 2026Minku Kim, Kuan-Chia Chen, Aayam Shrestha +3Humanoid Robot ControlWhole-Body Control

    The authors are with the Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, Oregon, 97331, USA

  4. UniManip: Open-World Robotic Manipulation via Agentic Operational Graphs

    Feb 13, 2026Haichao Liu, Yuanjiang Xue, Yuheng Zhou +5Robotic ManipulationLong-Horizon Robotic Manipulation

    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore · Department of Automation, Tsinghua University, China

  5. H-WM: Robotic Task and Motion Planning Guided by Hierarchical World Model

    Feb 11, 2026Jinbang Huang, Wenyuan Chen, Zhiyuan Li +9Long-Horizon Robotic ManipulationWorld Models for Robotics

    Huawei Noah’s Ark Lab · University of Toronto · University of British Columbia +1

  6. CoLA-Flow Policy: Temporally Coherent Imitation Learning via Continuous Latent Action Flow Matching for Robotic Manipulation

    Jan 30, 2026Wu Songwei, Jiang Zhiduo, Sun Wandong +4Flow MatchingLatent Action Learning

    Harbin Institute of Technology, Harbin 150001, China · Honor Device Co., Ltd., Shenzhen, China

  7. Learning Semantic Atomic Skills for Multi-Task Robotic Manipulation

    Dec 20, 2025Yihang Zhu, Weiqing Wang, Shijie Wu +2Long-Horizon Robotic ManipulationRobot Skill Learning

    ShanghaiTech University, Shanghai, China · InstAdapt

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

    Dec 7, 2025Ruicheng Zhang, Mingyang Zhang, Jun Zhou +6Physical Consistency in Video GenerationLong-Horizon Robotic Manipulation

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

  9. Robobench: A Comprehensive Evaluation Benchmark for Multimodal Large Language Models as Embodied Brain

    Oct 20, 2025Yulin Luo, Chun-Kai Fan, Menghang Dong +19Long-Horizon Robotic ManipulationMultimodal Large Language Models

    State Key Laboratory of Multimedia Information Processing, School of Computer2026 Science, Peking University · Institute for Brain and Intelligence, Fudan University · University of Science andJul Technology Beijing +2

  10. RoboPilot: Generalizable Dynamic Robotic Manipulation with Dual-thinking Modes

    Sep 30, 2025Xinyi Liu, Mohammadreza Fani Sani, Zewei Zhou +3Robotic ManipulationDynamic Robotic Manipulation

    Microsoft, Denmark · Technical University of Denmark · University of California, Los Angeles

  11. Robotic Ultra-Long-Horizon Manipulation Skills via Human-guided Lifelong Code Generation

    Sep 23, 2025Yuan Meng, Zhenguo Sun, Max Fest +4Code Generation for RoboticsLong-Horizon Robotic Manipulation

    School of Computation, Information and Technology Technical University of Munich Munich, Germany · Beijing Academy of Artificial Intelligence (BAAI) Beijing, China · The State Key Laboratory for Novel Software Technology Nanjing University Suzhou, China

  12. Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming

    Jul 15, 2025Asad Ali Shahid, Francesco Braghin, Loris RovedaLong-Horizon Robotic ManipulationRobot Skill Learning

    IDSIA, SUPSI, Lugano, Switzerland · Department of Mechanical Engineering, Politecnico di Milano, Italy

  13. Gondola: Grounded Vision Language Planning for Robotic Manipulation

    Jun 12, 2025Shizhe Chen, Ricardo Garcia, Paul Pacaud +1Long-Horizon Robotic ManipulationRobot Task Planning

    Inria, École normale supérieure, CNRS, PSL Research University

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

    Apr 23, 2025Itamar Mishani, Yorai Shaoul, Maxim LikhachevLong-Horizon Robotic ManipulationRobot Task Planning

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

  15. AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems

    Mar 9, 2025AgiBot World Contributors, Qingwen Bu, Jisong Cai +49Robot Manipulation DatasetsGeneralization in Robotic Manipulation