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. Uncertainty-Guided Sparse Refinement for Action Chunking Transformer Policies

    Sep 14, 2026Chenyang Wang, Yuntian Wang, Xiaoxiong Yang +3Long-Horizon Robotic ManipulationVisuomotor Policy Learning

    Soochow University, China · University of Electronic Science and Technology of China, China · Tongji University, China

  2. 2AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulation

    Sep 12, 2026Yutong Hu, Fengjiao Chen, Xuezhi Cao +1Long-Horizon Robotic ManipulationLanguage-Conditioned Robot Manipulation

    KU Leuven, Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics · Meituan Inc. · KU Leuven, Dept. Electrical Engineering, Research unit Processing Speech and Images

  3. Memory as Plans: World-Action Modeling with Memory-Grounded Planning

    Sep 11, 2026Sizhe Zhao, Haozhe Xie, Weiyu Zhao +5Long-Horizon Robotic ManipulationWorld Models for Robotics

    Harbin Institute of Technology, China · Nanyang Technological University, Singapore · Shandong University, China +1

  4. FolDeX: A Physical-World Benchmark for Long-Horizon Robotic Manipulation of Deformable Objects

    Sep 9, 2026Chenhuan Liu, Yi Xu, Feng Wu +7Long-Horizon Robotic ManipulationBimanual Robotic Manipulation

    Fudan University · AI Research Center, Midea Group (Shanghai) Co., Ltd. · Carnegie Mellon University

  5. Monkey See, Can Monkey Do? A Benchmark for Evaluating Robot Skill Learning by Observation

    Sep 8, 2026Weiwei Gu, Anmol Gupta, Anant Sah +5Long-Horizon Robotic ManipulationRobot Skill Learning

    School of Augmented Intelligence Arizona State University · NVIDIA

  6. SPOT: Spatial Perception-Oriented Long-Horizon Humanoid Teleoperation

    Sep 7, 2026Lixing Fang, Ziyan Xiong, Sunli Chen +2Humanoid Loco-ManipulationLong-Horizon Robotic Manipulation

    University of Massachusetts Amherst · Massachusetts Institute of Technology

  7. HINT: Human-Intent Inception for Long-Horizon Robot Manipulation

    Sep 2, 2026Mingyu Mei, Haojie Xu, Shihao Jin +9Long-Horizon Robotic ManipulationRobotic Manipulation

    Zhejiang University · Shanghai Jiao Tong University · Noematrix +1

  8. SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies

    Aug 31, 2026Weiqi Wang, Zhi Li, Yudong Lei +7Robot Policy LearningLong-Horizon Robotic Manipulation

    University of California, Los Angeles · University of California, Santa Barbara · Amazon +1

  9. Behavior-Skill: A Fine-Grained Benchmark for Evaluating Vision-Language-Action Policies in Long-Horizon Tasks

    Aug 31, 2026Chunyun Ma, Lun Luo, Xingjian Luo +7Long-Horizon Robotic ManipulationMobile Manipulation

    College of Intelligence Science and Technology and National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China. · XPeng Inc., Guangzhou, China. · The Chinese University of Hong Kong, Hong Kong, China. +1

  10. WorldToken: Time-First Sequence Modeling for Robotic Imitation Learning

    Aug 23, 2026Chunkai Yang, Andong Yang, Di Huang +2Robot Policy LearningLong-Horizon Robotic Manipulation

    School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China. · Department of Electronic Engineering, Tsinghua University, Beijing, China. · Institute for AI Industry Research, Tsinghua University, Beijing, China.

  11. DELE-w0.5: Inferring Action from Future Latent State for Robotic Manipulation

    Aug 22, 2026Fenghao Lei, Zhixiong Huang, Long Yang +5Long-Horizon Robotic ManipulationWorld Models for Robotics

    DeepLeap Research, Shenzhen, China

  12. Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memory

    Aug 17, 2026Bingxin Xu, Yuzhang Shang, Emilio FerraraMemory-Augmented Neural NetworksLong-Horizon Robotic Manipulation

    University of Southern California · University of Central Florida

  13. Deliberate Practice: Learning Robot Skills under a Budget

    Aug 13, 2026Shivam Vats, Sudarshan Harithas, Mete Tuluhan Akbulut +2Long-Horizon Robotic ManipulationRobot Skill Learning

    1Brown University · 2Mitsubishi Electric Research Laboratories

  14. S2-HWM: Sparse Event-Structured Hierarchical World Model for Long-Horizon Surgical Robot Manipulation

    Aug 13, 2026Shuzhe Zhang, Xin Zhu, Yinling Qian +1Long-Horizon Robotic ManipulationWorld Models for Robotics

    Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences · University of Chinese Academy of Sciences

  15. Skills in Weights, Memory in Code: Hybrid Learning for Memory-Dependent Robot Manipulation

    Aug 10, 2026Yunhao Zhao, Zhenyang Ni, Haoyang Chen +2Long-Horizon Robotic ManipulationRobot Skill Learning

    Northwestern University · University of Minnesota · Stanford University

  16. PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling

    Aug 9, 2026Servet B. Bayraktar, Andreas Orthey, Zachary Kingston +1Long-Horizon Robotic ManipulationRobotic Manipulation

  17. OnEvoMemory: Evolving Memory through Online Robot Rollouts for Pretrained Robot Policies

    Aug 9, 2026Zhongxi Chen, Shenqi ZongRobot Policy LearningLong-Horizon Robotic Manipulation

    Shanghai Jiao Tong University · Tsinghua University

  18. Multi-modal Interactive Control of Robotic Arm based on Offline Large Language Models

    Aug 8, 2026Hanxiao ChenLong-Horizon Robotic ManipulationLanguage-Conditioned Robot Manipulation

    Department of Electrical Engineering and Information Systems, University of Tokyo, Tokyo, Japan

  19. AtlasVLA: Persistent World-Ego State Modeling for Vision-Language-Action Models

    Aug 7, 2026Guiyu Zhao, Longteng Guo, Yanghong Mei +7Long-Horizon Robotic ManipulationVision-Language-Action Models

    Institute of Automation, Chinese Academy of Sciences, Beijing, China · University of Chinese Academy of Sciences, Beijing, China · Beijing Freedo Technology Co., Ltd. +1

  20. Beyond Flat Policies: Hierarchical Post-Training for Embodied Agents in Robotic Manipulation

    Aug 6, 2026He Kong, Zengjue Chen, Qi Wang +6Long-Horizon Robotic ManipulationHierarchical RL

    School of Artificial Intelligence, Jilin University · College of computer science and technology, Jilin University · Joy Future Academy, JD

  21. SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation

    Aug 6, 2026Changyuan Wang, Chubin Zhang, Zhenyu Wu +8Long-Horizon Robotic ManipulationRobot Skill Learning

    Shenzhen International Graduate School, Tsinghua University · Department of Automation, Tsinghua University · Nanyang Technological University +1

  22. SSC: A Verifiable Structured Representation for Bimanual Manipulation Labelling

    Aug 5, 2026Yupu Lu, Shuang Wu, Sihan Chen +4Long-Horizon Robotic ManipulationKnowledge Representation

    School of Computing and Data Science, The University of Hong Kong, HKSAR · Artificial Intelligence Laboratory (Leibniz), HKSAR

  23. GORDON: Graph-based Object-centric Rewards for Decomposition of Long-Horizon Manipulation

    Aug 4, 2026Andrea Protopapa, Davide Buoso, Francesca Pistilli +2Long-Horizon Robotic ManipulationLearning from Demonstration

    Politecnico di Torino, Turin, Italy. · Interactive Robot Perception & Learning (PEARL) Lab, Computer Science Dept., TU Darmstadt, Germany. · Hessian.AI, Darmstadt, Germany. +1

  24. ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulation

    Aug 3, 2026Yuzhi Huang, Weijue Bu, Ziyi Xiong +4Memory-Augmented VLMsLong-Horizon Robotic Manipulation

    Shenzhen International Graduate School, Tsinghua University · China University of Mining and Technology · Shenzhen Technology University

  25. UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis

    Jul 30, 2026Hui Zhang, Julian Ferchow, Jie Song +1Robotic GraspingDexterous Manipulation

    ETH Zürich, Switzerland · inspire AG, Zürich, Switzerland · HKUST (Guangzhou), China

  26. RoboBRIDGE: A Modular Framework for Bridging Policies to Robust Real-World Robotic Agents

    Jul 30, 2026Sihyung Yoon, Minjong Yoo, Sanghyun Ahn +2Long-Horizon Robotic ManipulationRobotics

    Department of Computer Science and Engineering, Sungkyunkwan University

  27. CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation

    Jul 29, 2026Yushan Liu, Peibo Sun, Xintao Chao +8Long-Horizon Robotic ManipulationWorld Models for Robotics

    Tsinghua University · Shanghai Jiao Tong University · Peking University +2

  28. SAM3D-Guided Object-Centric Representation Alignment for Vision-Language-Action Models

    Jul 28, 2026Zonghe Liu, Shanyuan Jie, Xiaoquan Sun +4Long-Horizon Robotic ManipulationObject-Centric Representation Learning

    University of Hong Kong · Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences · Huazhong University of Science and Technology +2

  29. Decompose and Reorganize: Planning with Primitives and Visuomotor Policies Learned from Demonstrations

    Jul 28, 2026Yizhou Chen, Hang Xu, Dongjie Yu +7Long-Horizon Robotic ManipulationRobot Skill Learning

    The University of Hong Kong, Hong Kong · JD.com (JingDong) · Nanyang Technological University (NTU), Singapore +3

  30. A Few Words Go a Long Way: Language Guided Robot Policy Synthesis

    Jul 26, 2026Daphne Chen, Archit Ritesh Jain, Eric Goossen +4Long-Horizon Robotic ManipulationRobot Skill Learning

    University of Washington · 2Microsoft Research · 3Massachusetts Institute of Technology