Non-Prehensile Robotic Manipulation

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18 papers5 papers in the last four weeks, up 67% on the four weeks before. 0.0% of all new papers.

  1. Keeping Contact: Task-Adaptive Friction Margins for Bimanual Non-Prehensile Manipulation

    Oct 27, 2026Qian Ying Lee, Lin Yang, Domenico CampoloNon-Prehensile Robotic ManipulationRobotic Manipulation

    School of Mechanical and Aerospace Engineering, Nanyang Technological University (NTU), Singapore. · R3 Institute (R3I) Singapore, Nanyang Technological University (NTU), Singapore

  2. Nonprehensile Robotic Catching Using Virtual Constraints

    Oct 26, 2026Aakash Khandelwal, Ranjan MukherjeeRobotic CatchingNon-Prehensile Robotic Manipulation

    Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824, USA

  3. Uni-PNP: Unified Prehensile and Non-prehensile Policy Learning for Generalizable Object Pose Reaching

    Oct 15, 2026Wenxuan Zhu, Yuze Wang, Jiangran Lyu +6Robotic ManipulationNon-Prehensile Robotic Manipulation

    Peking University · Galbot · Institute of Automation, Chinese Academy of Sciences +2

  4. SOMA: Stack-of-Objects Manipulation using a Quadruped Robot

    Oct 14, 2026Stergios E. Bachoumas, Panagiotis ArtemiadisNon-Prehensile Robotic ManipulationRobotic Manipulation

  5. Beyond the End-Effector: Learning Whole-Arm Contact Manipulation from Human Demonstrations

    Oct 13, 2026Bo-Ruei Huang, Daniel Seita, Erdem BıyıkNon-Prehensile Robotic ManipulationRobotic Manipulation

    Thomas Lord Department of Computer Science, University of Southern California

  6. Multi-Modal Non-Prehensile Estimation of Physical Parameters via Press-and-Pull Tipping

    Sep 27, 2026Steven M. Hyland, Jing Xiao, Cagdas D. OnalNon-Prehensile Robotic ManipulationRobotic Manipulation

    Worcester Polytechnic Institute

  7. RAPID: Robot Agentic Programming from Demonstrations

    Sep 24, 2026Yuyao Liu, Jiayuan Mao, David Hsu +2Robot LearningGeneralization in Robotic Manipulation

    Massachusetts Institute of Technology · National University of Singapore · University of Pennsylvania +1

  8. MetaPusher: Meta Learning and Planning for Nonprehensile Manipulation of Unseen Objects with Rapid Online Adaption

    Sep 17, 2026Donghyung Lee, Seyedali Golestaneh, Jaskrit Singh +3Non-Prehensile Robotic ManipulationRobotic Manipulation

  9. 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

  10. Contact-Guided Exploration for Non-Prehensile Locomanipulation with Multi-Critic RL

    Aug 28, 2026Simone Tolomei, Mayank Mittal, Franco Angelini +3Non-Prehensile Robotic ManipulationRobotic Manipulation

    Centro di Ricerca E. Piaggio, Dipartimento di Ingegneria dell’Informazione, Universit`a di Pisa, Italy · ETH Zürich, Switzerland · NVIDIA

  11. 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

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

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

    All authors are with the Department of Electrical and Computer Engineering, University of California San Diego, 9500 Gilman Drive, La Jolla, CA 92093, United States.

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

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

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

    Mar 14, 2026Tierui He, Jiahui Zuo, Fumin Zhang +1Hierarchical PlanningContact-Rich Manipulation

    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.

  15. Push, Press, Slide: Mode-Aware Planar Contact Manipulation via Reduced-Order Models

    Mar 12, 2026Melih Özcan, Umut Orguner, Ozgur S. OguzNon-Prehensile Robotic ManipulationRobotic Manipulation

    Dept. of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkiye. · Dept. of Computer Engineering, Bilkent University, Ankara, Turkiye.

  16. Concurrent Prehensile and Nonprehensile Manipulation: A Practical Approach to Multi-Stage Dexterous Tasks

    Mar 12, 2026Hao Jiang, Yue Wu, Yue Wang +2Dexterous ManipulationLong-Horizon Robotic Manipulation

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

  17. Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning

    Mar 10, 2026Yixin Zheng, Jiangran Lyu, Yifan Zhang +8Non-Prehensile Robotic ManipulationRobotic Manipulation

    Institute of Automation, Chinese Academy of Sciences · Beijing Academy of Artificial Intelligence · Galbot +2

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

    Sep 25, 2025Huayi Zhou, Kui JiaNon-Prehensile Robotic ManipulationBimanual Robotic Manipulation

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