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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DRAM: Delta-rule Recurrent Associative Memory for Robot Manipulation Policies
Sep 26, 2026Xinyu Zhao, Yixiang Shan, Tao Yang +5Long-Horizon Robotic Manipulation Delta-Rule Linear Attention
Simplexity Robotics
ADM-Planner: LLM-Guided Long-Horizon Planning for Mobile Manipulators with Attention-Enhanced Dynamic Memory
Sep 24, 2026Jiaping Xiao, Pingyuan Ji, Mir FeroskhanLong-Horizon Robotic Manipulation Mobile Manipulation
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
AdaHVLA: Adaptive Harnesses for Long-Horizon Vision-Language-Action Execution
Sep 24, 2026Junyi Tang, Jie Peng, Zezhen Ding +2Long-Horizon Robotic Manipulation Agent Harness Optimization
UNC · USTC · HKUST +1
From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments
Sep 24, 2026Shilin Ma, Chubin Zhang, Xulong Bai +3Long-Horizon Robotic Manipulation Active Vision for Robot Manipulation
Tsinghua Shenzhen International Graduate School, Tsinghua University
CALM: Current Aligned Link Manipulation for Single Arm Oversized Object Lifting
Sep 24, 2026Jun Hu, Sihan Chen, Kosta Jovanovic +4Long-Horizon Robotic Manipulation Contact-Rich Robotic Manipulation
School of Advanced Engineering, Great Bay University, Dongguan, Guangdong, China · Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China · School of Computing and Data Science, The University of Hong Kong, Hong Kong SAR, China +2
OCC4M: Object-Centric 4D Memory for Spatiotemporal Reasoning in Long-Horizon Manipulation
Sep 23, 2026Jack B. Jedlicki, Tanguy Dieudonné, Heng YangLong-Horizon Robotic Manipulation Spatiotemporal Reasoning
Harvard University · ETH Zürich
Generalists Act, Specialists Intervene: Modular Stage-Selective Reinforcement Learning for Vision-Language-Action Manipulation
Sep 22, 2026Chongyu Zhu, Hyegang Kim, Jaden Hinds +3RL for Robotics Robot Policy Learning
Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada.
SafeLoop: Risk-Aware Rollback for Vision-Language-Action Manipulation
Sep 22, 2026Zeyu Lou, Tianran Zhang, Xinquan Yue +2Long-Horizon Robotic Manipulation Robot Safety
Nanjing University, Nanjing, China · The Hong Kong University of Science and Technology (Guangzhou), Guangdong, China · Beijing University of Technology, Beijing, China
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 +7Long-Horizon Robotic Manipulation Generalization in Robotic 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
DualWAM: Dual-System World Action Models for Asynchronous Global Planning and Local Refinement
Sep 21, 2026Yixin Zheng, Jiangran Lyu, Yuntian Deng +6Long-Horizon Robotic Manipulation World Models for Robotics
Institute of Automation, Chinese Academy of Sciences · Galbot · Peking University +2
CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies
Sep 21, 2026Junlan Xiao, Junwei Jiang, Zaibin Zhang +4Long-Horizon Robotic Manipulation Vision-Language-Action Models
Dalian University of Technology, Dalian, China
Automatic Labelling for Bimanual Mobile Manipulation
Sep 21, 2026Yupu Lu, Jia PanLong-Horizon Robotic Manipulation Bimanual Robotic Manipulation
School of Computing and Data Science, The University of Hong Kong, HKSAR.
Grounded Action Model: 3D Grounding as a Foundation for Robotics
Sep 20, 2026Gehao Zhang, Weikai Huang, Shailesh Shailesh +3Long-Horizon Robotic Manipulation Language-Conditioned Robot Manipulation
Northwestern University · University of Washington · National University of Singapore +1
PackLab: A Comprehensive Framework for Developing, Training, and Evaluating MLLMs in Robotic Bin Packing
Sep 20, 2026Donghao Zhou, Jia-Hui Pan, Fan Zhang +6Long-Horizon Robotic Manipulation Robotics
Department of Computer Science and Engineering, The Chinese University of Hong Kong · M-A-P · Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong
EgoWild2Dex: Learning Dexterous Robotic Manipulation from In-the-Wild Human Experience
Sep 20, 2026Kunyang Lin, Xutao Wen, Jingxi Lin +8Long-Horizon Robotic Manipulation Bimanual Robotic Manipulation
The University of Hong Kong · Kinetix AI
TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation
Sep 20, 2026Hengyan Liu, Wenlve Zhou, Bo Yue +7Memory-Augmented VLMs Long-Horizon Robotic Manipulation
The Chinese University of Hong Kong, Shenzhen · Foshan University · DexForce +1
AR-WAM: A Visual-Conditioned Agent-Ready World Action Model for Robotic Manipulation
Sep 20, 2026Yicheng Jiang, Zesen Gan, Xiaobo Wang +8Robotic Control Long-Horizon Robotic Manipulation
The Hong Kong University of Science and Technology · Shenzhen University of Advanced Technology · Sangfor Technologies Inc. +4
Receding-Horizon Pushing with Composable Object-Centric Policies
Sep 20, 2026Zhiyi Yuan, Tianrun Hu, Anxing Xiao +3Long-Horizon Robotic Manipulation Sequential Decision Making
School of Computing and Smart Systems Institute, National University of Singapore, Singapore · Shanghai Innovation Institute, Shanghai, China
SeeQ: Training Generalist Value Functions for Long-Horizon Robotic Manipulation
Sep 18, 2026Saksham Singh, Zheyuan Hu, Max Sobol Mark +3Robot Policy Learning Long-Horizon Robotic Manipulation
Carnegie Mellon University
From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention
Sep 18, 2026Sichang Su, Benjamin Yang, Zhiyun Deng +4Robot Policy Adaptation Reinforcement Learning
UT Austin · Autel US · UC Berkeley
Workspace Models: Lightweight Robotic Memory via Saliency-Driven Supervision
Sep 17, 2026Nitish Dashora, Douglas Chen, Idan Shenfeld +3Robot Policy Learning Long-Horizon Robotic Manipulation
Massachusetts Institute of Technology · Carnegie Mellon University
StageGuard: Learning Stage Transitions for Long-Horizon Robot Tasks via Agentic Distillation
Sep 17, 2026Jinbang Huang, Yuanzhao Hu, Zhiyuan Li +6Long-Horizon Robotic Manipulation Robot Task Planning
Huawei Noah’s Ark Lab · University of British Columbia · University of Toronto +1
SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulation
Sep 17, 2026Kaivalya Agrawal, Md Ashiqur Rahman, Raymond A. Yeh +1Long-Horizon Robotic Manipulation Efficient VLA Model Inference
Department of Computer Science, Purdue University
MAGMA-GEN: Validated Recovery Supervision from Ambiguous Failures via Counterfactual Re-Execution
Sep 17, 2026Loan Bernat, Matthieu Grard, Ariane Herbulot +1Long-Horizon Robotic Manipulation Robot Failure Recovery
LAAS-GEPETTO · Sil´eane, LAAS-CNRS · LAAS-RAP +2
MaskHarness-WAM: Instance-Grounded Harnessing for Long-Horizon Robot Manipulation
Sep 17, 2026Zitai Huang, Taiyi Su, Jian Zhu +6Long-Horizon Robotic Manipulation Robotic Manipulation
Tongji University · AIRC, Midea Group
From Rollout to Reset: A Graph-Based Harness for Autonomous Long-Horizon Manipulation Evaluation
Sep 16, 2026Jing Jiang, Yue Yang, Xinkai Jiang +3Long-Horizon Robotic Manipulation Robotic Policy Evaluation
Karlsruhe Institute of Technology, Germany · University of North Carolina at Chapel Hill, USA
GraphPoint: Semantic Entity Graphs and Point Trajectories for Compositional Robot Manipulation
Sep 16, 2026Kang Luo, Hesheng WangLong-Horizon Robotic Manipulation Language-Conditioned Robot Manipulation
IRMV Lab, the Department of Automation, Shanghai Jiao Tong University
Function-Preserving Data Generation for Zero-Shot Real-to-Sim-to-Real Manipulation
Sep 16, 2026Tianyi Xiang, Xupeng Xie, Jiahang Cao +3Synthetic-to-Real Domain Adaptation Long-Horizon Robotic Manipulation
Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · Institute of Data Science, The University of Hong Kong, Hong Kong SAR, China
Vision-Language Grounded Task-Context-Aware Imitation Learning for Robotic Disassembly
Sep 15, 2026Jeon Ho Kang, Igal Tamarkin, Ethan Niu +2Long-Horizon Robotic Manipulation Language-Conditioned Robot Manipulation
Viterbi School of Engineering, University of Southern California, Los Angeles, USA
MessyMem: Learning-from-Doing Memory for Mobile Manipulation
Sep 14, 2026Anuva Banwasi, William Muckelroy, Priya Sundaresan +3Long-Horizon Robotic Manipulation Mobile Manipulation
Stanford University

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DRAM: Delta-rule Recurrent Associative Memory for Robot Manipulation Policies

Xinyu Zhao, Yixiang Shan, Tao Yang, Runyu Lei+4

Simplexity Robotics

Long-Horizon Robotic Manipulation Delta-Rule Linear Attention Associative Memory Policy Learning Memory-Augmented Agents

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Robotic manipulation is inherently history-dependent, yet most pretrained robotic policies condition on only the current observation or a short temporal window. Equipping such policies with long-term memory remains challenging: existing approaches either feed the backbone multi-frame observation windows, which substantially increase inference cost, or rely on pre-defined semantic features, which limit task generality and may also require the retraining of the backbone to adapt to the memory. We introduce DRAM (Delta-rule Recurrent Associative Memory), a plug-and-play memory module that can be attached to a wide range of pretrained robotic policies, endowing them with long-horizon memory without architectural modification or backbone retraining, requiring only task-specific post-training of the memory module and action expert. DRAM maintains a fixed-size associative memory using gated delta-rule linear attention, with a modified update that incorporates all tokens within each frame in parallel. An architecture-agnostic readout integrates historical context into action prediction across different policy architectures. Experiments show that DRAM consistently improves frozen pretrained policies over short-context baselines and alternative compact memory designs, validating its effectiveness as a fixed-size, post-hoc memory module trained with the backbone frozen.

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Latest papers 261