Robotic Manipulation Policies

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26 papers in the last four weeks, up 271% on the four weeks before. 0.3% of all new papers.

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  1. ReCo: Response-Consistent Locomotion with Policy-Aware MPC for Legged Manipulation

    Oct 1, 2026Kuankuan Sima, Yichao Gao, Chenxi Gu +2Agile LocomotionRobotic Manipulation Policies

    Department of Electrical and Computer Engineering, National University of Singapore, Singapore 119077, Singapore · Department of Mechanical Engineering, National University of Singapore, Singapore 119077, Singapore

  2. EmbodiRSI: Recursive Self-Improvement for Data-Efficient Robot Adaptation

    Sep 30, 2026Haoran Lang, Haotao Lu, Shiyu Sang +6Scalable Robot LearningRobotic Manipulation Policies

    InstAdapt · ShanghaiTech University

  3. What to Attend, What to Keep: Skill-Conditioned Visuotactile Representation with Progress-Guided Event Memory

    Sep 29, 2026Amir-Hossein Shahidzadeh, Seungjae Lee, Eadom Dessalene +5TactileRobotic Manipulation Policies

    Computer Science Department, University of Maryland, College Park, MD, USA

  4. Memorize, Adapt, Ignore: Diagnosing Robot Learning Mechanisms under Training Data Variation

    Sep 29, 2026Ke Zhang, Danica J. Sutherland, Chao LiuScalable Robot LearningImitation Learning

    PRIME Robotics Lab, Department of Mechanical Engineering, The University of British Columbia · Department of Computer Science, University of British Columbia · Alberta Machine Intelligence Institute

  5. BlenDAgger: Blended Shared Control for Interactive Imitation Learning

    Sep 29, 2026Cailyn Smith, Geoffrey Sun, Henny Admoni +1Robotic Manipulation PoliciesRobot Policies

    The Robotics Institute, School of Computer Science Carnegie Mellon University Pittsburgh, USA · School of Computer Science Carnegie Mellon University Pittsburgh, USA

  6. Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control

    Sep 29, 2026Johannes Hechtl, Yannik Blei, Simon Ball +5Robotic Manipulation PoliciesContact Wrench Estimation

    Siemens Research and Predevelopment · Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg, Germany

  7. DROM: A Language-Guided Diffusion Framework for Multi-Skill Robotic Manipulation

    Sep 29, 2026Vincenzo Pomponi, Rocco Felici, Paolo Franceschi +5Robotic ManipulationRobotic Manipulation Policies

    Institute of Systems and Technologies for Sustainable Production (ISTePS), Department of Innovative Technologies, University of Applied Science and Arts of Southern Switzerland (SUPSI), Via la Santa 1, Lugano, CH-6900, Ticino, Switzerland. · Istituto Dalle Molle di studi sull’intelligenza artificiale (IDSIA), Department of Innovative Technologies, University of Applied Science and Arts of Southern Switzerland (SUPSI), Via la Santa 1, Lugano, CH-6900, Ticino, Switzerland. · Mechanical Department, Politecnico di Milano (PoliMi), Via Giuseppe Candiani, Milan, 20155, Italy. +1

  8. ComManip: Overfitting Manipulation Policies to Comfortable Regions

    Sep 29, 2026Yidan Lai, Xinyi Chen, Shuquan Man +1Robotic Manipulation PoliciesImproved Generalization

    South China University of Technology, Guangzhou, China · Nanyang Technological University, Singapore

  9. X-Reset: Scaling Object-Centric Reinforcement Learning via Cross-Embodiment Resets

    Sep 28, 2026Prithwish Dan, Chenyang Ma, Wei ZhanRobotic Manipulation PoliciesOffline Reinforcement Learning

    Applied Intuition · University of North Carolina at Chapel Hill · University of California, Berkeley

  10. Spatial Grafting: Grounding 3D Features for Flow-Matching Robot Policies

    Sep 28, 2026Dingsheng Liu, Yangzheng Wu, Mahboubeh Asadi +5Robotic Manipulation PoliciesRobot Policies

    University of Toronto · Huawei Noah’s Ark Lab · Department of Foundation Model, 2012 Labs

  11. Robot-GST: geometry-aware spatial-temporal robot policy representation and evaluation

    Sep 27, 2026Sichao Liu, Zekun Wang, Lixuan Tang +6Robotic Manipulation PoliciesRobot Systems

    KTH · EPFL · Idiap Research Institute +3

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

    Sep 26, 2026Xinyu Zhao, Yixiang Shan, Tao Yang +5Robot PoliciesRobotic Manipulation Policies

    Simplexity Robotics

  13. Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation

    Sep 24, 2026Mariia Iavorskaia, Christian Dietz, Sebastian Albrecht +1Robotic Manipulation PoliciesResidual Policy

    Siemens AG, Research and Predevelopment, Germany. · Technical University of Munich, Germany.

  14. Simple Torque-Observation Alignment for Zero-Shot Sim-to-Real Grasping with a Direct-Drive Gripper

    Sep 24, 2026Doyoung Kim, Edgar Lee, Hyeonsun Park +4TorqueSim-To-Real Reinforcement Learning

    Department of Mechanical Engineering, Sogang University, Seoul, South Korea

  15. KeyGen: Unsupervised Keypoint based Object-Centric Representations for Category-Level Policy Generalization

    Sep 23, 2026Shuxin Cao, Liquan Wang, Masoud Moghani +2Robotic Manipulation PoliciesKeypoint Detection

    Georgia Institute of Technology · University of Toronto

  16. Distillation for Efficient Multitask Manipulation Policies via Conditional Flow Matching

    Sep 23, 2026Shreya Deshmukh, Imen Mahdi, Nick Heppert +1Robotic Manipulation PoliciesConditional Flow Matching

    Department of Computer Science, University of Freiburg, Germany.

  17. What is the Better Curriculum: Controller-Shaped Grasping Behavior for Contact Force-Sensitive Manipulation

    Sep 22, 2026Ziyan Feng, Zizhao Yuan, Yulong Fu +6Robotic Manipulation PoliciesAgent Behavior Modeling

    The Hong Kong University of Science and Technology (Guangzhou)

  18. 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 +7Robotic Manipulation PoliciesLong-Horizon 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

  19. Object-Centric Conditioning for Visuomotor Flow Matching

    Sep 21, 2026Jijie Li, Xu Yang, Junhong Zou +4Flow-Matching Vision-Language-ActionRobotic Manipulation Policies

    School of Artificial Intelligence, University of Chinese Academy of Sciences · State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences · Foundation Model Research Center, Institute of Automation, Chinese Academy of Sciences +2

  20. Energy-Regularized Imitation Learning for Force- and Work-Aware Robotic Manipulation

    Sep 16, 2026Toshiki Otani, Hiromu Taketsugu, Norimichi UkitaRobotic Manipulation PoliciesRobotic Manipulation

    Toyota Technological Institute, Japan

  21. Fetch My Beer: Synthetic-to-real Hierarchical Policy for Smooth Pick-and-place

    Sep 16, 2026Yingyue Li, Chenyangguang Zhang, Ruida Zhang +3Robotic Manipulation PoliciesReal-World Manipulation Tasks

    Department of Automation, Tsinghua University, Beijing, China · ETH Zurich, Zurich, Switzerland · Beijing Xiaomi Robot Technology Co., Ltd, Beijing, China +1

  22. UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data

    Sep 15, 2026Hyesung Lee, Si-Hwan Heo, Sungwook YangContact-Rich Dexterous ManipulationRobotic Manipulation Policies

    Center for Humanoid Research, Korea Institute of Science and Technology, Seoul 02792, Republic of Korea · Kim Jaechul Graduate School of AI, Korea Advanced Institute of Science and Technology, Seoul 02455, Republic of Korea

  23. REVOLVE: An Automated Closed-Loop Framework for Evolving Robot Manipulation with Minimal Human Intervention

    Sep 13, 2026Hanyu Liu, Qian Li, Yizhu Ding +8Robotic Manipulation PoliciesRobotic Manipulation

    Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China.

  24. FOCI Policy: Focus on Object-Centric Interactions for Relational Manipulation Policies

    Sep 8, 2026Ze Fu, Pinhao Song, Yutong Hu +1Robotic Manipulation PoliciesObject-Centric Representations

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

  25. AURORA: Active Uncertainty-Driven Re-Orientation for In-Hand Reconstruction

    Sep 8, 2026Feiyu Zhao, Yuetong Li, Chenxi Xiao3D Hand3D Reconstruction

    School of Information Science and Technology ShanghaiTech University, China

  26. Dex-X: Learning Visual-Tactile Dexterous Manipulation From Human Videos with Simulated Interaction

    Sep 7, 2026Ruoqu Chen, Feixiang Ruan, Liu Cao +9Contact-Rich Dexterous ManipulationRobotic Manipulation Policies

    Tsinghua University · Shanghai Qizhi Institute · Sharpa +2

  27. Does Imitation Learning Preserve Temporal Robustness in Dexterous Manipulation? An Expert-Learner Comparison Across Task Execution Speeds

    Sep 1, 2026Clinton Enwerem, John S. Baras, Calin BeltaImitation LearningRobotic Manipulation Policies

    Institute for Systems Research University of Maryland College Park, MD, U.S.A.

  28. AM-Bench: A Modular Simulation Suite and Benchmark for Aerial Manipulation Policy Learning

    Sep 1, 2026Yutong Wang, Dongjae Lee, Xiaofeng Guo +9Aerial ManipulationRobotic Manipulation Policies

    The Robotics Institute, School of Computer Science, Carnegie Mellon University · School of Mechanical Engineering, Kyung Hee University · Department of Aerospace Engineering, Pennsylvania State University

  29. ORPA: Online Residual Policy Adaptation for Robot Manipulation Control with Human Feedback

    Aug 18, 2026Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai +1Residual PolicyRobotic Manipulation Policies

    Embodied AI Research Team · National Institute of AIST · Tokyo, Japan

  30. Policy-Induced Hand Priors in Humanoid Dual-Arm Manipulation: Diagnosing and Mitigating Initial-Pose Dependence

    Aug 12, 2026Chaeyeon Jung, Juyoun ParkRobotic Manipulation PoliciesLearning Policy

    Center for Humanoid Research, Korea Institute of Science and Technology (KIST), Republic of Korea.

  31. Surgical WAM: A World-Action Model for Data-Efficient Surgical Robot Learning

    Aug 11, 2026Wenrui Bao, Tianyun Jiang, Zhiben Chen +3Surgical VideosSurgical Robots

    University of Central Florida · AdventHealth

  32. Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition

    Aug 10, 2026Changhao Li, Yifang Zhang, Heng Zhang +6Robotic Manipulation PoliciesRobotic Manipulation

    HHCM, Istituto Italiano di Tecnologia, Genoa, Italy · DIBRIS, University of Genova, Genova, Italy · Human-Robot Interfaces and Interaction Lab, Istituto Italiano di Tecnologia, Genova, Italy +1

  33. SpeedTuning: Speeding Up Policy Execution with Lightweight Reinforcement Learning

    Aug 10, 2026David D. Yuan, Tony Z. Zhao, Kaylee Burns +1Robotic Manipulation PoliciesRobotic Manipulation

    Stanford University

  34. VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations

    Aug 6, 2026Hisham Khalil, Neil Fernandes, Thomas M. Kwok +2Impedance ControlRobotic Manipulation Policies

    Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada · Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada · School of Computer Science and the Department of Electrical and Computer Engineering, McGill University, Montreal, QC, Canada

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

    Aug 4, 2026Andrea Protopapa, Davide Buoso, Francesca Pistilli +2Robotic Manipulation PoliciesLong-Horizon Manipulation

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

  36. A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces

    Aug 4, 2026Rishabh Shukla, Adithya Santhosh, Shaili Gandhi +2Robotic Manipulation PoliciesDiffusion Policies

    Realization of Robotic Systems Lab (RROS) University of Southern California, Los Angeles, CA, USA

  37. Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data

    Aug 3, 2026Ye Wang, Pei Lin, Xiong-Hui Chen +12Large-Scale Robot Demonstration DatasetsRobotic Data Acquisition

    1AIM3 Lab, Renmin University of China · 2Qwen Team, Alibaba Inc. · 3ShanghaiTech University +2

  38. DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration

    Aug 2, 2026Haoran Liao, Pengyue Wang, Shuoyu Chen +10Robotic Manipulation Policies

    1Sun Yat-sen University · 4Jiangxing Intelligence · 2Stanford University +1

  39. Developing Combined Manipulation and Locomotion Skills with Interaction Representation and Skill Composition

    Jul 31, 2026Fanxing Meng, Jing XiaoRobotic Manipulation PoliciesHand-Object Interaction Detection

    Robotics Engineering Department, Worcester Polytechnic Institute, Worcester, MA, USA

  40. FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation

    Jul 30, 2026Lifeng Zhuo, Wendi Chen, Han Xue +4Diffusion PoliciesRobotic Manipulation Policies

    1Shanghai Jiao Tong University · 2Shanghai Innovation Institute · 3Noematrix Ltd.

  41. HiFi-UMI: Learning Deployable Manipulation Policies from High-Fidelity UMI Data Alone

    Jul 28, 2026Simple AI, :, Yuteng Wei +16Robotic Manipulation PoliciesTeleoperation

    Simple AI

  42. Sling2Sim2Real: One-Shot Elastic System Identification for Non-Destructive Slingshot Policy Learning

    Jul 25, 2026Wonjae Kang, Geonwoo Kim, Minseok Song +1Sim-To-Real Reinforcement LearningSim-To-Real Gap

    School of Computing, Korea Advanced Institute of Science and Technology, Korea

  43. Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces

    Jul 24, 2026Yorai Shaoul, Jiaoyang Li, Maxim LikhachevRobotic ManipulatorRobotic Manipulation Policies

    The Robotics Institute, Carnegie Mellon University

  44. AXIS: A Growable Community-Driven Data Engine for Scalable Robot Manipulation

    Jul 23, 2026Mengfei Zhao, Dihong Huang, Yikai Tang +12Scalable Robot LearningRobotic Manipulation Policies

    1Axis Robotics · University of California, Berkeley · 3Georgia Institute of Technology +6

  45. URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation

    Jul 23, 2026Jiyou Shin, Youngjin Seo, Jaeseog Won +5Robotic Manipulation PoliciesImpedance Control

    The authors are with the Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon 2066, South Korea · The authors are with the Faculty of Intelligent Robotics, Sungkyunkwan University, Suwon 2066, South Korea

  46. Data and Learning Where it Matters for Contact-Rich Manipulation

    Jul 17, 2026Oliver Hausdörfer, Linus Schwarz, Gabor Marko +7Contact-Rich ManipulationRobotic Manipulation Policies

    1TU Munich · 2Siemens AG

  47. Reverse to Advance: Teleoperation-Cost Effective Hard Policy Learning from Reversed Easy Tasks

    Jul 15, 2026Qiyuan Qiao, Ge Yuan, Can Wang +1TeleoperationRobotic Manipulation Policies

    The University of Hong Kong

  48. A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation

    Jul 13, 2026Yunhai Feng, Natalie Leung, Jiaxuan Wang +3Robotic Manipulation PoliciesCross-Embodiment Retargeting

    Cornell University · Amazon FAR

  49. Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentation

    Jul 13, 2026Haojie Huang, Linfeng Zhao, Haotian Liu +9Robotic Manipulation PoliciesImitation Learning

    1Northeastern University · 2Stanford University · University of Pennsylvania +2

  50. Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classification

    Jul 12, 2026Haojie Huang, Zhang Ye, Linfeng Zhao +7Robotic Manipulation PoliciesScalable Robot Learning

    Northeastern University · Stanford University · Brown University

  51. B-spline Policy: Accelerating Manipulation Policies via B-spline Action Representations

    Jul 10, 2026Xiaoshen Han, Haoyu Xiong, Haonan Chen +4Robotic Manipulation PoliciesSplines

    1Harvard · 2MIT · 3UT Austin

  52. More Structure, Not More Capacity: Object-Centric Representations for Visuomotor Imitation Learning

    Jul 10, 2026Yi Li, Alexandre Chapin, Liming Chen +2Object-Centric RepresentationsRobotic Manipulation Policies

    TU Darmstadt · 1TU Darmstadt · LIRIS +3

  53. GraspIT: A Dataset Bridging the Sim-to-Real gap and back for Validated Grasping SE(3) Pose Generation

    Jul 7, 2026Paul Koch. Adem Karakurt, André SersRobotic GraspingRobotic Manipulation Policies

    Fraunhofer IPK Pascalstraße 8-9, 10587 Berlin, Germany

  54. Geometry-Aware Motion Latents for Learning Robust Manipulation Policies

    Jul 6, 2026Yunchao Zhang, Yijia Weng, Ruizhe Liu +3Robotic ManipulationLatent Motion

    Department of Computer Science, The University of Hong Kong, Hong Kong, China · Department of Computer Science, Stanford University, Stanford, California, USA · Department of Data Science and AI, Monash University, Melbourne, Australia

  55. RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies

    Jul 5, 2026Tianxing Chen, Yue Chen, Zixuan Li +41Robotic Manipulation Policies

  56. DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand

    Jun 26, 2026Dihong Huang, Zhenyu Wei, Zhuxiu Xu +3Contact-Rich Dexterous ManipulationRobotic Manipulation Policies

    University of North Carolina at Chapel Hill

  57. Support-Constrained RL Enables Real-World Policy Improvement without Real-World Experience

    Jun 25, 2026Raymond Yu, William Huey, Mustafa Mukadam +2Sim-To-Real Reinforcement LearningRobotic Manipulation Policies

    University of Washington · Amazon FAR

  58. DeformGen: Dynamics-Based Topology Augmentation for Deformable Manipulation Policy Learning

    Jun 24, 2026Zili Lin, Wenyao Zhang, Yuyang Zhang +9Deformable Linear ObjectsDeformable

    Shanghai Jiao Tong University · Eastern Institute of Technology, Ningbo · Tsinghua University +3

  59. Learning Process Rewards via Success Visitation Matching for Efficient RL

    Jun 22, 2026Raymond Tsao, Andrew Wagenmaker, Sergey LevineOffline Reinforcement LearningRobotic Manipulation Policies

    UC Berkeley

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

    Jun 21, 2026Kexin Shi, Junyao Shi, Poorvi Hebbar +5Flow PoliciesRobotic Manipulation Policies

    Skild AI · Carnegie Mellon University · University of Pennsylvania