Mobile Manipulation

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Overview

Mobile manipulation coordinates navigation, perception, and physical interaction so robots can reach objects, choose workable base positions, and perform tasks while moving between locations. Approaches range from geometric mapping, reachability analysis, motion planning, and whole-body model-predictive control to imitation learning, reinforcement learning, and vision-language-action policies trained on robot or human demonstrations and simulation data. Work increasingly combines these methods with hierarchical skills, spatial memory, active perception, and recovery for long-horizon tasks in homes and other changing environments. A central challenge is transferring success from individual skills and simulation to reliable real-world behavior under shifts in viewpoint, base pose, clutter, contact, and disturbances; aggregate benchmark scores can obscure these weaknesses.

Latest papers

CardsList

93 papers18 papers in the last four weeks, up 100% on the four weeks before. 0.1% of all new papers.

  1. ANCHOR: A Physically Grounded Closed-Loop Framework for Robust Home-Service Mobile Manipulation

    Apr 28, 2026Jinhao Jiang, Shengyu Fang, Sibo Zuo +2Long-Horizon Robotic ManipulationMobile Manipulation

    Beijing Institute of Technology

  2. GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation

    Apr 21, 2026Marcelino Julio Fernando, Miguel Altamirano Cabrera, Jeffrin Sam +3Mobile ManipulationBimanual Robotic Manipulation

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia

  3. DockAnywhere: Data-Efficient Visuomotor Policy Learning for Mobile Manipulation via Novel Demonstration Generation

    Apr 16, 2026Ziyu Shan, Yuheng Zhou, Gaoyuan Wu +3Mobile ManipulationGeneralization in Robotic Manipulation

    Beijing University of Posts and Telecommunications, Beijing, China · Nanyang Technological University, Singapore

  4. ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation

    Apr 15, 2026Jingjing Qian, Zeyuan He, Chen Shi +2Robotic Spatial MemoryLong-Horizon Robotic Manipulation

    The Chinese University of Hong Kong, Shenzhen · LiAuto Inc.

  5. FastGrasp: Learning-based Whole-Body Control Method for Fast Dexterous Grasping with Mobile Manipulators

    Apr 14, 2026Heng Tao, Yiming Zhong, Zemin Yang +1RL for RoboticsRobotic Grasping

    ShanghaiTech University

  6. Scalable Trajectory Generation for Whole-Body Mobile Manipulation

    Apr 14, 2026Yida Niu, Xinhai Chang, Xin Liu +2Robot Motion GenerationMobile Manipulation

  7. Whole-Body Mobile Manipulation using Offline Reinforcement Learning on Sub-optimal Controllers

    Apr 14, 2026Snehal Jauhri, Vignesh Prasad, Georgia ChalvatzakiMobile ManipulationWhole-Body Robotic Manipulation

    PEARL Lab, Computer Science Department, Technische Universität Darmstadt, Germany · Hessian.AI, Darmstadt, Germany · Robotics Institute, Germany

  8. EMMa: End-Effector Stability-Oriented Mobile Manipulation for Tracked Rescue Robots

    Apr 9, 2026Yifei Wang, Hao Zhang, Jidong Huang +2Mobile ManipulationRobot Motion Generation

  9. Synergizing Efficiency and Reliability for Continuous Mobile Manipulation

    Apr 7, 2026Chengkai Wu, Ruilin Wang, Yixin Zeng +7Mobile ManipulationRobotic Control

    Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China · School of Artificial Intelligence, Sun Yat-sen University, Zhuhai, China · Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China

  10. ExpressMM: Expressive Mobile Manipulation Behaviors in Human-Robot Interactions

    Apr 7, 2026Souren Pashangpour, Haitong Wang, Matthew Lisondra +1Human-Robot InteractionHuman-Robot Collaboration

    Autonomous Systems and Biomechatronics Laboratory (ASBLab), Department of Mechanical and Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada

  11. Primitive-based Truncated Diffusion for Efficient Trajectory Generation of Differential Drive Mobile Manipulators

    Apr 5, 2026Long Xu, Choilam Wong, Yuhang Zhong +3Diffusion-Based PlanningDiffusion Models for Motion Generation

  12. MobiGuide: Vocabulary-Guided Online Recovery for Mobile Manipulation

    Apr 2, 2026Jia Syuen Lim, Zhizhen Zhang, Peter Bohm +3Mobile ManipulationDiffusion Policy

    UQMM Lab, The University of Queensland, Brisbane, Australia · Robotics and Autonomous Systems Group, CSIRO, Brisbane, Australia

  13. SG-VLA: Learning Spatially-Grounded Vision-Language-Action Models for Mobile Manipulation

    Mar 24, 2026Ruisen Tu, Arth Shukla, Sohyun Yoo +5Spatial Grounding for VLA ModelsVision-Language-Action Models

    UC San Diego · Lambda, Inc.

  14. Rapid Adaptation of Particle Dynamics for Generalized Deformable Object Mobile Manipulation

    Mar 18, 2026Bohan Wu, Roberto Martín-Martín, Li Fei-FeiDeformable Object ManipulationGeneralization in Robotic Manipulation

    the University of Texas at Austin, USA

  15. Beyond Cybathlon: On-demand Quadrupedal Assistance for People with Limited Mobility

    Mar 17, 2026Carmen Scheidemann, Andrei Cramariuc, Changan Chen +2Assistive RoboticsHealthcare Robotics

    ETH Zurich, Robotic Systems Lab, Zurich, Switzerland.

  16. AnolisVLA: Lightweight Vision-Language-Action Model with Deep State Space Models for Mobile Manipulation

    Mar 16, 2026Yusuke Takagi, Motonari Kambara, Daichi Yashima +3Language-Conditioned Robot ManipulationVision-Language-Action Models

    Keio University, 3-14-1 Hiyoshi, Kohoku, Yokohama, Kanagawa 223-8522, Japan.

  17. Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks

    Mar 10, 2026Xintong Du, Siqi Zhou, Angela P. SchoelligHierarchical Robot ControlMobile Manipulation

    Learning Systems and Robotics Lab (www.learnsyslab.org) at the Technical University of Munich, Germany, and the University of Toronto Institute for Aerospace Studies, Canada · University of Toronto Robotics Institute · Munich Institute of Robotics and Machine Intelligence (MIRMI) +1

  18. Perceptive Hierarchical-Task MPC for Sequential Mobile Manipulation in Unstructured Semi-Static Environments

    Mar 10, 2026Xintong Du, Jingxing Qian, Siqi Zhou +13D Scene Change DetectionMobile Manipulation

    University of Toronto Institute for Aerospace Studies (UTIAS) and the Vector Institute for Artificial Intelligence, Canada. · School of Computing Science, Faculty of Applied Sciences, Simon Fraser University, Burnaby, BC, Canada. · Learning Systems and Robotics lab at the Technical University of Munich and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Germany.

  19. Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation

    Mar 10, 2026Artemis Shaw, Chen Liu, Justin Costa +5RoboticsMobile Manipulation

  20. MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation

    Mar 9, 2026Chenxu Li, Zixuan Chen, Yetao Li +5Long-Horizon Robotic ManipulationMobile Manipulation

    All authors are with Nanjing University, China.

  21. Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenance

    Mar 9, 2026Dilermando Almeida, Juliano Negri, Guilherme Lazzarini +5Robotic GraspingLanguage-Conditioned Robot Manipulation

    Department of Mechanical Engineering, Federal University of Uberlândia, Uberlândia, Brazil · Department of Mechanical Engineering, University of São Paulo, São Carlos, Brazil · Graduate School of Information Sciences, Tohoku University, Sendai, Japan +1

  22. SuperSuit: An Isomorphic Bimodal Interface for Scalable Mobile Manipulation

    Mar 6, 2026Tongqing Chen, Hang Wu, Jiasen Wang +1Mobile ManipulationRobotic Data Collection

    Tsinghua University, Beijing, China. · TARS Robotics, Shanghai, China.

  23. Risk-Aware Reinforcement Learning for Mobile Manipulation

    Mar 4, 2026Michael Groom, James Wilson, Nick Hawes +1Risk-Sensitive RLMobile Manipulation

    Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, United Kingdom · Dyson Institute of Engineering & Technology, Malmesbury, United Kingdom · Bristol Robotics Laboratory, School of Engineering, University of West England, Bristol, United Kingdom

  24. RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots

    Mar 4, 2026Soroush Nasiriany, Sepehr Nasiriany, Abhiram Maddukuri +1Robot Manipulation BenchmarksMobile Manipulation

    The University of Texas at Austin · NVIDIA Research

  25. HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations

    Mar 3, 2026Xiaomeng Xu, Jisang Park, Han Zhang +6Mobile ManipulationWhole-Body Robotic Manipulation

    Stanford University · Toyota Research Institute

  26. MiniUGV2_2: A Compact UAV-Deployable Tracked Ground Vehicle with Manipulation Capabilities

    Mar 1, 2026Durgakant Pushp, Swapnil Kalhapure, Shaekh Mohammad Shithil +1RoboticsMobile Robotics

    Luddy School of Informatics, Computing, and Engineering at Indiana University, Bloomington, IN 47408, USA. · S. Kalhapure is an Independent Researcher at the time of work.

  27. InCoM: Intent-Driven Perception and Structured Coordination for Mobile Manipulation

    Feb 26, 2026Jiahao Liu, Cui Wenbo, Zhongpu Xia +3Active PerceptionMobile Manipulation

    SKL-MAIS, Institute of Automation, Chinese Academy of Sciences · School of Advanced Interdisciplinary Sciences, University of Chinese Academy of Sciences · Anyverse Dynamics

  28. Rethinking the Practicality of Vision-language-action Model: A Comprehensive Benchmark and An Improved Baseline

    Feb 26, 2026Wenxuan Song, Jiayi Chen, Xiaoquan Sun +12Vision-Language-Action ModelsEfficient VLA Models

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China. · Huazhong University of Science and Technology, Wuhan, China. · Westlake University, Hangzhou, China. +1

  29. EgoPush: Egocentric Multi-Object Rearrangement for Mobile Robots via Constrained Teacher Observability

    Feb 20, 2026Boyuan An, Zhexiong Wang, Yipeng Wang +4Robotic ManipulationRobot Learning

    New York University

  30. 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