Long-Horizon Robotic Manipulation

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Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks
Jun 7, 2026Raktim Gautam Goswami, Prashanth Krishnamurthy, Yann LeCun +1Long-Horizon Robotic Manipulation World Models for Robotics
Tandon School of Engineering, New York University · Courant Institute of Mathematical Sciences, New York University · AMI Labs
MotionVLA: Injecting Geometric Motion into Vision-Language-Action Model
Jun 6, 2026Shanglin Yuan, Weiheng Zhao, Xianda Guo +4Long-Horizon Robotic Manipulation Visuomotor Policy Learning
Huazhong University of Science and Technology · D-Robotics · Wuhan University
VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation
Jun 5, 2026Siyi Chen, Hugo Hadfield, Alex Zook +9Long-Horizon Robotic Manipulation Tool-Using Vision-Language Agents
1NVIDIA · University of Michigan
Task Editing for Generalizable 3D Visuomotor Policy Learning
Jun 5, 2026Jian-Jian Jiang, YiHan Yang, Lan Wei +6Long-Horizon Robotic Manipulation Generalization in Robotic Manipulation
Sun Yat-sen University · South China University of Technology · Nanyang Technological University +1
STRIPS-WM: Learning Grounded Propositional STRIPS-style World Models from Images
Jun 5, 2026Abhiroop Ajith, Constantinos ChamzasLong-Horizon Robotic Manipulation World Models for Robotics
Department of Robotics Engineering · Worcester Polytechnic Institute · United States
AEGIS: A Backup Reflex for Physical AI
Jun 4, 2026Josef ChenRobot Policy Learning Long-Horizon Robotic Manipulation
KAIKAKU
MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation
Jun 4, 2026Ilyass Taouil, Michal Ciebelski, Shafeef Omar +4Humanoid Loco-Manipulation Long-Horizon Robotic Manipulation
Technical University of Munich, Germany · New York University, USA · Carnegie Mellon University, USA
DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use
Jun 4, 2026Runfa Blark Li, Kuang-Ting Tu, Nikola Raicevic +6Long-Horizon Robotic Manipulation Bimanual Robotic Manipulation
UC San Diego
Safe Embodied AI for Long-horizon Tasks: A Cross-layer Analysis of Robotic Manipulation
Jun 4, 2026Dabin Kim, Daemin Park, Sangyub Lee +4Long-Horizon Robotic Manipulation Robot Safety
UNIST InnoCORE AI-Space Solar Initiative, Ulsan National Institute of Science and Technology (UNIST), 50 UNIST-gil, Ulsan, 44919, Republic of Korea. · Automation and Systems Research Institute, Seoul National University, 1 Gwanak-ro, Seoul, 08826, Republic of Korea. · Department of Electrical and Computer Engineering, Seoul National University, 1 Gwanak-ro, Seoul, 08826, Republic of Korea. +3
Revisiting Embodied Chain-of-Thought for Generalizable Robot Manipulation
Jun 2, 2026Nan Sun, Yuan Zhang, Yongkun Yang +10Long-Horizon Robotic Manipulation CoT Reasoning
Tsinghua University · Xiaomi Robotics · Peking University +6
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 Grasping Long-Horizon Robotic Manipulation
School of Computer Science and Engineering, Southeast University, China
ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
Jun 2, 2026Yutong Liang, Quanquan Peng, Ri-Zhao Qiu +1Robot Trajectory Tracking Long-Horizon Robotic Manipulation
University of California San Diego
Expanding Spatial and Temporal Context for Robotic Imitation Learning With Scene Graphs
May 31, 2026Jianing Qian, Qinhe Peng, Emmanuel Panov +4Long-Horizon Robotic Manipulation Imitation Learning
University of Pennsylvania · RAI Institute · University of Michigan
$τ_0$ -WM: A Unified Video-Action World Model for Robotic Manipulation
May 31, 2026Pengfei Zhou, Shengcong Chen, Di Chen +17Action-Conditioned Video Generation Long-Horizon Robotic Manipulation
1Shanghai Innovation Institute · 2AGIBOT Finch
Make Your VLA More Robust Without More Data By Interleaving Motion Planning
May 31, 2026Dan BW Choe, Sundhar Vinodh Sangeetha, Samuel Coogan +1VLM Robustness Long-Horizon Robotic Manipulation
Georgia Institute of Technology, Atlanta, GA, USA
Dynamic Resilient Spatio-Semantic Memory with Hybrid Localization for Mobile Manipulation
May 30, 2026Zhijie Yan, Shufei Li, Ze Zhang +3Long-Horizon Robotic Manipulation Mobile Robotics
School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China · Department of Systems Engineering, City University of Hong Kong, Hong Kong SAR 518057, China · School of Computing, National University of Singapore, 21 Lower Kent Ridge Rd 119077, Singapore
Closed-Loop Object-Informed Control for Non-Prehensile Robot Manipulation
May 29, 2026Nikola Raicevic, Hyomuk Kim, Shahid Mulla +5Long-Horizon Robotic Manipulation Non-Prehensile Manipulation
Department of Electrical and Computer Engineering, University of California San Diego, 9500 Gilman Drive, La Jolla, CA 92093, United States
Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity
May 28, 2026Weizhe Ni, Jinzhou Li, Haoyu Li +3Long-Horizon Robotic Manipulation Robotic Tool Use
Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC 27708, USA.
LLM-Guided Future Hypotheses for Horizon-Aware Exploration in Multi-Step Robot Manipulation
May 28, 2026Mohammad Khoshnazar, Andrew Melnik, Michael BeetzRL for Robotics Reinforcement Learning
Institute of Artificial Intelligence, University of Bremen, Germany.
PrimitiveVLA: Learning Reusable Motion Primitives for Efficient and Generalizable Robotic Manipulation
May 27, 2026Yutai Li, Shaohui Peng, Jiaming Guo +8Long-Horizon Robotic Manipulation Robot Skill Learning
State Key Lab of Processors, Institute of Computing Technology, CAS · Jiangsu Key Laboratory of AI for Industries, Institute of AI for Industries, CAS · University of Chinese Academy of Sciences +3
ProgVLA: Progress-Aware Robot Manipulation Skill Learning
May 27, 2026Seungsu Kim, Jinyoung Choi, Seungmin Baek +1Cross-Modal Learning Efficient Multimodal Inference
NAVER LABS Europe · NAVER LABS
Mobile UMI: Cross-View Diffusion Policy with Decoupled Kinematics for Mobile Manipulation
May 20, 2026Haoran Huang, Haonan Dong, Huixu DongLong-Horizon Robotic Manipulation Mobile Manipulation
Zhejiang University, Hangzhou 310027, China
SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework
May 19, 2026Tianshu Wu, Xiangqi Kong, Yue Chen +5Humanoid Loco-Manipulation Long-Horizon Robotic Manipulation
1CFCS, School of Computer Science, Peking University · School of Computer Science and Engineering, Beihang University
World-Ego Modeling for Embodied Video Generation in Long-Horizon Navigation-Manipulation Tasks
May 19, 2026Zuyao Lin, Jianhui Zhang, Peidong Jia +4World Model Learning Long-Horizon Robotic Manipulation
Institute of Automation, Chinese Academy of Sciences · University of Chinese Academy of Sciences · 3Zhongguancun Academy +2
Visual Sculpting: Visually-Aligned Planning Representations for Long-Horizon Robot Clay Sculpting
May 17, 2026Peter Schaldenbrand, Jean OhLong-Horizon Robotic Manipulation Deformable Object Manipulation
1The Robotics Institute, Carnegie Mellon University · 2Lavoro AI Research
SADP: Subgoal-Aware Diffusion Policy for Explainable Robots Learned from Foundation Model Generated Demonstrations
May 16, 2026Site Hu, Takato HoriiRobot Policy Learning Long-Horizon Robotic Manipulation
Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Osaka, Japan
DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo
May 15, 2026Hanwen Wang, Weizhi Zhao, Xiangyu Wang +11Dexterous Manipulation Long-Horizon Robotic Manipulation
NLPR & MAIS, CASIA · SJTU · MBZUAI +3
Learning Bilevel Policies over Symbolic World Models for Long-Horizon Planning
May 15, 2026Dillon Z. Chen, Till Hofmann, Toryn Q. Klassen +1Long-Horizon Robotic Manipulation Symbolic Planning
1Vector Institute · University of Toronto · 3LAAS-CNRS +2
FocalPolicy: Frequency-Optimized Chunking and Locally Anchored Flow Matching for Coherent Visuomotor Policy
May 15, 2026Qian He, Zhenshuo Yang, Wenqi Liang +3Flow Matching Long-Horizon Robotic Manipulation
State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences · University of the Chinese Academy of Sciences · University of Trento
FLASH: Efficient Visuomotor Policy via Sparse Sampling
May 15, 2026Jiaqi Bai, Jindou Jia, Yuxuan Hu +5Flow Matching Long-Horizon Robotic Manipulation
MARS Lab, Nanyang Technological University, Singapore

Jun 7, 2026, cs.ROJ/K move · Enter open · S save

Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks

Raktim Gautam Goswami, Prashanth Krishnamurthy, Yann LeCun, Farshad Khorrami

Tandon School of Engineering, New York University · Courant Institute of Mathematical Sciences, New York University · AMI Labs

Long-Horizon Robotic Manipulation World Models for Robotics World Models Object-Centric World Models Robot Task Planning

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Visual world models have shown great potential in learning complex system dynamics. Recent advancements leverage these models as transition functions within Model Predictive Control (MPC) frameworks to solve various control tasks. When applied to robotics, however, they are limited to single-stage tasks such as reaching or grasping, and struggle with multi-stage ones that demand complex sequential planning. In this work, we introduce WorldDP, a world model framework designed for multi-stage robotic manipulation. Our hierarchical approach utilizes a high-level world model as a transition function to optimize for feasible subgoals during runtime, which are subsequently reached by a low-level Diffusion Policy. To further aid in learning dynamics and planning, we incorporate object-centric representations that decouple environmental entities and enable us to plan sequentially with respect to each. Evaluated across several robotics benchmarks, WorldDP consistently outperforms existing baselines, validating that coupling the world model's physically grounded planning with diffusion policy's efficient execution yields superior multi-stage performance. Project Page: https://raktimgg.github.io/worlddp-website/.

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