Non-Prehensile Manipulation

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  1. Robust Nonprehensile Object Transport with Quadruped Robots

    Oct 5, 2026Ainoor Teimoorzadeh, Riccardo Pretto, Mario Selvaggio +2Trajectory OptimizationTrajectory Generation

    Munich Institute of Robotics & Machine Intelligence, Technical University of Munich (TUM), Munich, Germany · Tampere University, Finland · PRISMA Lab, Department of Electrical Engineering and Information Technology, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy +1

  2. Non-Prehensile Throwing: A Reinforcement Learning Perspective

    Sep 1, 2026Abdullah Mustafa, Ryo Hanai, Ixchel G. Ramirez-Alpizar +4RL for RoboticsNon-Prehensile Manipulation

    National Institute of Advanced Industrial Science and Technology (AIST), Japan · Graduate School of Fundamental Science and Engineering, Waseda University, Tokyo 169-8555, Japan

  3. PREFAIL: Identifying Precursors to Failures in Robotic Lift-and-Place Tasks to Improve Task Execution Performance

    Jul 18, 2026Zeyu Shangguan, Rajas Chitale, Rutvik Patel +2Non-Prehensile ManipulationRobotic Manipulation

    Thomas Lord Department of Computer Science, University of Southern California, USA.

  4. Grasp-Oriented Non-Prehensile Manipulation via Learning a Graspability Field

    Jun 29, 2026Licheng Zhong, Gim Hee LeeRL for RoboticsRobotic Grasping

    Department of Computer Science, National University of Singapore, Singapore

  5. Robotic Nonprehensile Object Transportation with a Hanging Tray

    Jun 8, 2026Adam Heins, Angela P. SchoelligNon-Prehensile ManipulationMobile Robotics

    University of Toronto · Toronto, Canada · Technical University of Munich +1

  6. Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator

    Jun 4, 2026Joel Ramadani, Vasilije Rakčević, Riddhiman Laha +4Contact-Rich ManipulationNon-Prehensile Manipulation

    Technical University of Munich · Technical University of Munich, Munich, Germany. · DLR Oberpfaffenhofen +3

  7. FlipItRight: Stable Pose-Targeted Throw-Flip Across Diverse Objects

    Jun 1, 2026Axel Dawne, Shinkyu ParkNon-Prehensile ManipulationRobot Motion Generation

    King Abdullah University of Science and Technology (KAUST), Saudi Arabia

  8. Closed-Loop Object-Informed Control for Non-Prehensile Robot Manipulation

    May 29, 2026Nikola Raicevic, Hyomuk Kim, Shahid Mulla +5Long-Horizon Robotic ManipulationNon-Prehensile Manipulation

    Department of Electrical and Computer Engineering, University of California San Diego, 9500 Gilman Drive, La Jolla, CA 92093, United States

  9. Compliant Non-Prehensile Pushing Manipulation

    May 25, 2026Francesco Cufino, Mario Selvaggio, Fabio Amadio +1Contact-Rich ManipulationNon-Prehensile Manipulation

    The authors are with the PRISMA Lab, department of Electrical Engineering and Information Technology of the University of Naples Federico II, Via Claudio, 21, Naples, 80125, Italy. · The author is with Inria, CNRS, Université de Lorraine, Nancy, 54000, France (work carried out while at the ABB Corporate Research Center, Västerås, 72226, Sweden).

  10. Virtues of Ordered Chaos: Planning with Topple Actions in Tabletop Stack Rearrangement

    May 18, 2026Hao Lu, Rahul ShomeNon-Prehensile ManipulationRobot Task Planning

    School of Computing at the Australian National University, Canberra, AU

  11. Optimal Knock-Pick Planning for Tightly Packed Tabletop Blocks With Parallel Grippers

    May 18, 2026Hao Lu, Rahul ShomeContact-Rich ManipulationNon-Prehensile Manipulation

    School of Computing

  12. DART: Learning-Enhanced Model Predictive Control for Dual-Arm Non-Prehensile Manipulation

    Apr 20, 2026Autrio Das, Shreya Bollimuntha, Madala Venkata Renu Jeevesh +5Bimanual Robotic ManipulationNon-Prehensile Manipulation

  13. LDHP: Library-Driven Hierarchical Planning for Non-prehensile Dexterous Manipulation

    Mar 14, 2026Tierui He, Jiahui Zuo, Fumin Zhang +1Contact-Rich ManipulationRobotic Grasping

    Shanghai Marine Equipment Research Institute, Shanghai 200031, China. · J. Zuo and F. Zhang are with The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong. · C. Zhao is with Jilin University, Changchun, China.

  14. Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation

    Feb 9, 2026Marc Toussaint, Cornelius V. Braun, Armand Jordana +5Reinforcement LearningNon-Prehensile Manipulation

    Technische Universität Berlin · Robotics Institute Germany · LAAS-CNRS +1

  15. Where to Touch, How to Contact: A Hierarchical RL-MPC Framework for Geometry-Aware Sim-to-Real Manipulation

    Jan 16, 2026Zhixian Xie, Yu Xiang, Michael Posa +1Contact-Rich ManipulationNon-Prehensile Manipulation

    Arizona State University · University of Texas at Dallas · University of Pennsylvania

  16. Model-Based Adaptive Precision Control for Tabletop Planar Pushing Under Uncertain Dynamics

    Oct 4, 2025Aydin Ahmadi, Baris AkgunContact-Rich ManipulationNon-Prehensile Manipulation

    Computer Engineering Department, Ko¸c University, Rumelifeneri Yolu, Istanbul, 34450, Istanbul, Turkey.

  17. BiNoMaP: Learning Category-Level Bimanual Non-Prehensile Manipulation Primitives

    Sep 25, 2025Huayi Zhou, Kui JiaBimanual Robotic ManipulationNon-Prehensile Manipulation

    School of Data Science, The Chinese University of Hong Kong, Shenzhen