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. FlowDPG: Deterministic Policy Gradient on Flow Matching Policies for Real-World Manipulation

    Jun 21, 2026Kexin Shi, Junyao Shi, Poorvi Hebbar +5Flow MatchingPolicy Gradient

    Skild AI · Carnegie Mellon University · University of Pennsylvania

  2. OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation

    Jun 20, 2026Yingdong Hu, Haodong Zhu, Boyuan Zheng +6Humanoid Loco-ManipulationLong-Horizon Robotic Manipulation

    Tsinghua University · Shanghai Qi Zhi Institute · Spirit AI

  3. RARM: Confidence-Gated Progress Reward Modeling for RL in Manipulation

    Jun 20, 2026Pengzhi Yang, Xinyu Wang, Pengyu Jing +7Long-Horizon Robotic ManipulationRobot Skill Learning

    † NUS Human-Centered Robotic Lab · ‡ Booking.com · § University of Cambridge +1

  4. Remember what you did?: Learning Behavioral Memories for Partially Observable Object Manipulation

    Jun 19, 2026Kuancheng Wang, Seungho Yeom, Jinglin Cao +3Robot Policy LearningRepresentation Learning

    UC San Diego

  5. MemoryWAM: Efficient World Action Modeling with Persistent Memory

    Jun 18, 2026Sizhe Yang, Juncheng Mu, Tianming Wei +8Long-Horizon Robotic ManipulationWorld Models for Robotics

    The Chinese University of Hong Kong · Tsinghua University · Zhejiang University

  6. EventVLA: Event-Driven Visual Evidence Memory for Long-Horizon Vision-Language-Action Policies

    Jun 18, 2026Ganlin Yang, Zhangzheng Tu, Yuqiang Yang +10Long-Horizon Robotic ManipulationVision-Language-Action Models

    University of Science and Technology of China · Shanghai AI Laboratory · Dalian University of Technology +5

  7. Temporal Self-Imitation Learning

    Jun 18, 2026Yinsen Jia, Boyuan ChenRL for RoboticsLong-Horizon Robotic Manipulation

    Duke University

  8. ZeroDex: Zero-Shot Long-Horizon Dexterous Manipulation via Multi-View 3D-Grounded VLM Reasoning

    Jun 17, 2026Jisoo Kim, Sangwon Baik, Taeksoo Kim +4Dexterous ManipulationZero-Shot Robotic Manipulation

    Seoul National University · RLWRLD

  9. Mem-World: Memory-Augmented Action-Conditioned World Models for Persistent Robot Manipulation

    Jun 17, 2026Zirui Zheng, Jiaqian Yu, Xiongfeng Peng +7Long-Horizon Robotic ManipulationWorld Models for Robotics

    1Dalian University of Technology · 2Samsung R&D Institute China-Beijing (SRCB), China

  10. Guava: Distilling Frontier VLMs into a Compact Agent through a Robotic Manipulation Harness

    Jun 16, 2026Haowen Liu, Xirui Li, Shaoxiong Yao +5Long-Horizon Robotic ManipulationVLM Distillation

    University of Maryland College Park · University of Illinois Urbana-Champaign · University of Waterloo +3

  11. ThinkingVLA: Interleaved Vision and Language Reasoning for Robotic Manipulation

    Jun 16, 2026Tianyi Lu, Hui Zhang, Zijie Diao +8Long-Horizon Robotic ManipulationLanguage-Conditioned Robot Manipulation

    Fudan University · Shanghai Innovation Institue · China Unicom +1

  12. WeaveLA: Event Driven Cross-Subtask Latent Memory Weaving for Repetitive Robot Manipulation

    Jun 16, 2026Shoujing Zhu, Zhenyang Liu, Fungmiu Wang +6Long-Horizon Robotic ManipulationVision-Language-Action Models

    Fudan University · Shanghai Innovation Institute · School of Data Science, The Chinese University of Hong Kong, Shenzhen +1

  13. Scaling Short-Term Memory of Visuomotor Policies for Long-Horizon Tasks

    Jun 15, 2026Rutav Shah, Rajat Kumar Jenamani, Xiaohan Zhang +5Long-Horizon Robotic ManipulationVisuomotor Policy Learning

    1Robotics and AI Institute, 2The University of Texas at Austin

  14. MemoryVAM: Integrating Memory into Video Action Model for Robot Manipulation

    Jun 13, 2026Yuxin Jiang, Chang Yu, Yunuo Chen +4Long-Horizon Robotic ManipulationWorld Models for Robotics

    University of California, Los Angeles · University of California, San Diego · University of Utah +1

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

    Jun 12, 2026Litian Liang, Jingxi Xu, Xinda Qi +7Long-Horizon Robotic ManipulationRobot Teleoperation

    1Ant Group · 2Stanford University

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

    Jun 11, 2026Arnav Kumar Jain, Yilin Wu, Jesse Farebrother +2World Model LearningLong-Horizon Robotic Manipulation

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

  17. See Selectively, Act Adaptively: Dual-Level Structural Decomposition for Bimanual Robot Manipulation

    Jun 11, 2026Yoon-Ji Choi, Young-Chae Son, Soo-Chul LimLong-Horizon Robotic ManipulationBimanual Robotic Manipulation

    Dongguk University

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

    Jun 11, 2026Kailin Wang, Haoxiang Jie, Yaoyuan Yan +2Long-Horizon Robotic ManipulationWorld Models for Robotics

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

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

    Jun 11, 2026Sunghwan Kim, Byeonghyun Pak, Kehan Long +2Long-Horizon Robotic ManipulationMobile Manipulation

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

  20. FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning

    Jun 10, 2026Steven Oh, Jason Jingzhou Liu, Tony Tao +5Robot Policy LearningLong-Horizon Robotic Manipulation

    Carnegie Mellon University · Waseda University

  21. Learning to Assist: Collaborative VLAs for Implicit Human-Robot Collaboration

    Jun 10, 2026Leo Xu, Letian Li, Alex Cuellar +1Long-Horizon Robotic ManipulationHuman-Robot Collaboration

    University of Wisconsin–Madison · Massachusetts Institute of Technology

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

    Jun 9, 2026Yuchi Zhao, Miroslav Bogdanovic, Arjun Sohal +5Robot Policy LearningLong-Horizon Robotic 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

  23. Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Models

    Jun 9, 2026Yifu Yuan, Yaoting Huang, Xianze Yao +20Long-Horizon Robotic ManipulationRobot Foundation Models

    Tianjin University · Tencent Hunyuan

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

    Jun 9, 2026Xiaoquan Sun, Ruijian Zhang, Chen Cao +12Latent Action LearningLong-Horizon Robotic Manipulation

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

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

    Jun 9, 2026Qianzhong Chen, Hau Zheng, Justin Yu +8RL for RoboticsReward Modeling

    Stanford University · UC Berkeley · Shanghai Jiao Tong University

  26. What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents

    Jun 9, 2026Jiaheng Hu, Mohit Shridhar, Caden Lu +4Long-Horizon Robotic ManipulationLarge Language Model-Based Robot Planning

    Google DeepMind

  27. MemoryVLA++: Temporal Modeling via Memory and Imagination in Vision-Language-Action Models

    Jun 8, 2026Hao Shi, Weiye Li, Bin Xie +6Long-Horizon Robotic ManipulationWorld Models for Robotics

    Department of Automation, BNRist, Tsinghua University, Beijing, China · Department of Computer Science, The University of Hong Kong, Hong Kong, China · Dexmal, Beijing, China +1

  28. AHA-WAM:Asynchronous Horizon-Adaptive World-Action Modeling with Observation-Guided Context Routing

    Jun 8, 2026Jisong Cai, Long Ling, Shiwei Chu +10Long-Horizon Robotic ManipulationWorld Models for Robotics

    Shanghai Jiao Tong University · Shanghai AI Laboratory · Baidu AI Cloud +1

  29. TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation

    Jun 8, 2026Huaihang Zheng, Yi Yang, Kai Ma +8RL for RoboticsLong-Horizon Robotic Manipulation

    Meituan · State Key Lab of Multimodal Artificial Intelligence Systems, Institute of Automation, CAS · Beijing Institute of Technology +2

  30. FF-JEPA: Long-Horizon Planning in World Models with Latent Planners

    Jun 8, 2026Sergi Masip, Jonathan Swinnen, Yutong Hu +2Hierarchical PlanningLong-Horizon Robotic Manipulation

    PSI, ESAT, KU Leuven · RAM, MECH, KU Leuven