Manipulation

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Period ending 2026-09-21

45 new papers

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Period ending 2026-09-14

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Period ending 2026-09-07

9 new papers

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

    Sep 22, 2026Ziyan Feng, Zizhao Yuan, Yulong Fu +6Robotic Manipulation Policies

  2. VisForce: Visual Grounding of Current and Desired Forces for Goal-Conditioned Dexterous Manipulation

    Sep 22, 2026Jung-Woo Lee, Soo-Chul LimGeneralizable Robotic Manipulations

  3. 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 Planning

  4. DynaForge: Planning-Guided Residual Learning for Dynamic Manipulation Demonstration Generation

    Sep 22, 2026Yiyang Jin, Yu Zheng, Xiao He +1Robotic Manipulation Policies

  5. From Instrument-Mounted Demonstrations to In-Vivo Execution: Learning Bimanual Laparoscopic Appendectomy Without Robot-Collected Demonstrations

    Sep 22, 2026Dongho Yee, Juahn Oh, Jinseok Lee +10Robot-Assisted Minimally Invasive SurgeryRobotic Manipulation Policies

  6. Learning Beyond What Humans Can Demonstrate

    Sep 21, 2026Yuchen Song, Aditya Mittal, Unnat JainRobotic Manipulation Policies

  7. Dexterous Robot Manipulation from Human Demonstrations via Contact-Anchored Retargeting and Residual Policy Learning

    Sep 21, 2026Zihao Yang, Chengyuan Liu, Yu Zhou +6Robotic Manipulation Policies

  8. HapticWAM: Distilling Imagined Touch into a World-Action Model without Inference-Time Tactile Sensing

    Sep 20, 2026Mikhail Sannikov, Ilya Mikhalchuk, Konstantin Gubernatorov +3Tactile World ModelReal-World Manipulation Tasks

  9. CompVLA: A Variable Compliance Vision-Language-Action Model for Contact-rich Manipulation

    Sep 20, 2026Jongmin Kim, Junsu Ha, Che-Sang Park +5Generalizable Robotic Manipulations

  10. G6D: Geometric Learning-Free RGB-D 6D Pose Solver for Robotic Manipulation

    Sep 20, 2026Yixuan Liang, William Chen, Yunan Wang +4Category-Level Object Pose EstimationFeed-Forward Visual Geometry Estimation

  11. Coding Agents with an Obstacle-Aware Harness for Safe Robot Manipulation

    Sep 17, 2026Bingxin Xu, Yuzhang Shang, Zhen Dong +1Generalizable Robotic ManipulationsObstacle Avoidance

  12. Workspace Models: Lightweight Robotic Memory via Saliency-Driven Supervision

    Sep 17, 2026Nitish Dashora, Douglas Chen, Idan Shenfeld +3Robot PoliciesWorkspaces

  13. Agile-WAM: An Agile Tactile World Action Model for Contact-Rich Robot Control

    Sep 17, 2026Hanchu Zhou, Brendan Lynch, Raman Goyal +4Tactile World ModelGeneralizable Robotic Manipulations

  14. HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface

    Sep 17, 2026Zimu Han, Yiming Zeng, Jiyao Zhang +9Vision-Language-Action ModelsHuman-In-The-Loop

  15. DexTouch-WM: Learning Action-Conditioned Tactile World Models from Human Touch for Dexterous Robot Manipulation

    Sep 17, 2026Yan Qin, Yue Chen, Wenwei Lin +8Tactile World ModelGeneralizable Robotic Manipulations

  16. SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulation

    Sep 17, 2026Kaivalya Agrawal, Md Ashiqur Rahman, Raymond A. Yeh +1Vision-Language-Action ModelsRobot Policies

  17. AnyViewDex: View-Invariant Dexterous Manipulation from RGB Observations

    Sep 17, 2026Soham Patil, Om Sanjay Gunjal, Sourabh Bhosale +3Robotic Manipulation PoliciesVisuomotor Policy

  18. Hybrid Residual Reinforcement Learning for Contact-Rich Robotic Book Insertion

    Sep 17, 2026Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2Generalizable Robotic ManipulationsGrasps

  19. RotateIt! Fast and Reliable Single-Arm Garment Unfolding via Online-Adaptive Dynamic Rotation

    Sep 17, 2026Zeqing Zhang, Zuokun Xie, Ao Fang +4Generalizable Robotic ManipulationsGarments

  20. TacSushi: Tactile-Grounded World-Action Modeling for Dexterous Sushi Manipulation

    Sep 17, 2026Haodi Hu, Kaen Kogashi, Toshiaki Koike-AkinoTactile World ModelDexterous Manipulation

  21. From Rollout to Reset: A Graph-Based Harness for Autonomous Long-Horizon Manipulation Evaluation

    Sep 16, 2026Jing Jiang, Yue Yang, Xinkai Jiang +3Long-Horizon PlanningLong-Horizon Tasks

  22. Grasping by interconnection: robust closing motions from coarse object templates

    Sep 16, 2026Julien Vanderheyden, Guillaume Drion, Fulvio Forni +1Grasp GenerationDexterous Robot Hands

  23. From Gameplay to Policy: Towards Scalable Robot Data Collection via Gamified Robot-Free Interaction

    Sep 16, 2026Zheng Li, Liang Zhu, Junzhe Wang +13Scalable Robot Data SynthesisRobotic Manipulation Policies

  24. DeformSmith: Physics Harness-Guided Hierarchical Generation of Deformable Assets for Robot Manipulation

    Sep 16, 2026Can Li, Jie Gu, Zishun Deng +2DeformableGeneralizable Robotic Manipulations

  25. ActiveScale: Scaling Active Perception for Robots across Model, Data, and Hardware

    Sep 16, 2026Shuai Zhou, Kaisheng Pang, Wenxuan Song +3Viewpoint-Dependent Active PerceptionActive Perception

  26. InterMASH: A Unified Geometric Representation for Grasp Synthesis

    Sep 16, 2026Xuanze Yang, Yumeng Liu, Haiyang Xin +5Generalizable Robotic ManipulationsCross-Embodiment Transfer

  27. TAO-Force: Unifying Force-Aware Perception and Fast-Slow Control for Contact-Rich Manipulation

    Sep 16, 2026Bohan Gan, Xuanzhang Wen, Yongsheng Zhao +8Generalizable Robotic ManipulationsContact-Rich Manipulation

  28. RAFAIL: Relationship-Aware Failure Detection for Robotic Manipulation

    Sep 16, 2026Loris Schneider, Edgar Welte, Rania RayyesGeneralizable Robotic ManipulationsManipulation

  29. Function-Preserving Data Generation for Zero-Shot Real-to-Sim-to-Real Manipulation

    Sep 16, 2026Tianyi Xiang, Xupeng Xie, Jiahang Cao +3Zero-Shot Sim-To-Real TransferDeformable Objects

  30. Acting in Meters: Learning Metric Interactions for Precise Robotic Manipulation

    Sep 16, 2026Lijie Wang, Zheng Lu, Yiming Wang +12Generalizable Robotic ManipulationsVision-Language-Action Models

  31. ForceDelta-VLA: Distilling Force-Conditioned ActionCorrections for Contact-Rich Manipulation

    Sep 16, 2026Ju Dong, Yu Fu, Jian Chen +9Vision-Language-Action ModelsManipulation

  32. UMI-Bridge: Action-Anchored Latent Alignment across Human and Robot Manipulation Data

    Sep 16, 2026Haiyi Liu, Jingming Ma, Ke Rui +12Human-To-Robot TransferScalable Robot Learning

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

    Sep 16, 2026Toshiki Otani, Hiromu Taketsugu, Norimichi UkitaRobotic Manipulation PoliciesGeneralizable Robotic Manipulations

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

    Sep 16, 2026Yingyue Li, Chenyangguang Zhang, Ruida Zhang +3Real-World Manipulation TasksImitation Learning

  35. OpenDexGrasp: Open-vocabulary Task-Oriented Dexterous Grasping

    Sep 16, 2026Jiyao Zhang, Junhan Wang, Tianyu Wang +4Grasp GenerationGeneralizable Robotic Manipulations

  36. Learning Multi-Humanoid Pickup and Transport via Decentralized Object-Centric Control

    Sep 15, 2026Bikram Pandit, Mohitvishnu S. Gadde, Aayam Kumar Shrestha +1Real-World Manipulation TasksDecentralization

  37. Vision-Language Grounded Task-Context-Aware Imitation Learning for Robotic Disassembly

    Sep 15, 2026Jeon Ho Kang, Igal Tamarkin, Ethan Niu +2Generalizable Robotic ManipulationsImitation Learning

  38. Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand

    Sep 15, 2026Amirhossein Kazemipour, Hehui Zheng, Robert KatzschmannDexterous Robot HandsAdaptive Locomotion

  39. SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation

    Sep 15, 2026Tingcong Liu, Aye Phyu Phyu Aung, Junjie Xiong +4Generalizable Robotic ManipulationsManipulation

  40. TEMPO: Learning Temporal Context for Dynamic Robot Manipulation

    Sep 15, 2026Zhenyang Feng, Jimin Heo, Erik B. Sudderth +1Generalizable Robotic ManipulationsVision-Language-Action Models

  41. SAVLA: Symmetry-Aware Vision-Language-Action Models for Robotic Manipulation

    Sep 15, 2026Junle Li, Weixian Waylon Li, Fuxiang Wu +2Pretrained Vision-Language-ActionVision-Language-Action Models

  42. ProxiDex: Learning Dynamics-Guided Proximity Policy for Dexterous Manipulation

    Sep 15, 2026Yushan Bai, Boyu Zheng, Zhiyang Mao +4Dexterous ManipulationRobust Manipulation

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

    Sep 15, 2026Hyesung Lee, Si-Hwan Heo, Sungwook YangRobotic Manipulation PoliciesDexterous Manipulation

  44. XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation

    Sep 14, 2026Xiwen Dengxiong, Xueting Wang, Ke Jing +2TeleoperationHaptic Feedback

  45. ManiSkillFormer: Demonstration-Free Compositional Manipulation via Task-Conditioned Geometric Contracts

    Sep 14, 2026Peiqi Yu, Mosam Dabhi, Shangtao Li +3Generalizable Robotic ManipulationsReal-World Manipulation Tasks

  46. Disentangling Representation Evolution in Transformers through Directional Decomposition

    Sep 14, 2026Shwai He, Haichao Zhang, Shen YanTransformer ArchitecturesRepresentation Space

  47. PredTac: Learning Contact-Rich Manipulation with Predicted Touch

    Sep 14, 2026Weijia Fan, Daqiang GuoContact-Rich ManipulationManipulation

  48. Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation

    Sep 14, 2026Jiaqi Zhai, Jingkai Zhao, Chen Yang +10ManipulationVision-Language-Action Models

  49. ArtManip: Category-Level Articulated In-Hand Manipulation

    Sep 14, 2026Yang Yang, Tengyu Liu, Puhao Li +6Robotic Manipulation PoliciesGrasp Generation

  50. FoldNet++: a Large-Scale Synthetic Dataset for Robotic T-Shirt Folding and Unfolding

    Sep 14, 2026Yuxing Chen, Zhiyuan Wei, Bowen Xiao +2Robotic DatasetsSynthetic Dataset

  51. Size Doesn't Matter: Material-State Reinforcement Learning for Excavator Transferable Soil Manipulation

    Sep 14, 2026Lennart Werner, Pol Eyschen, Sean Costello +3Hydraulic ExcavatorsSoil

  52. STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation

    Sep 14, 2026Xiangcheng Liu, Tianhao Wu, Le Zheng +6Generalizable Robotic ManipulationsDexterous Manipulation

  53. Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining

    Sep 14, 2026Shogo Iwakata, Tomohiro Motoda, Ryosuke Yamada +8Imitation LearningRobotic Datasets

  54. From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics

    Sep 14, 2026Lara Bergmann, Noah Greis, Cedric Grothues +2GripperRobotic Arms

  55. Real-World Reinforcement Learning with MPC Scaffolding for Dexterous Manipulation

    Sep 14, 2026Emek Barış Küçüktabak, Karankumar Patel, Zhaodong Yang +3Robotic Manipulation PoliciesModel Predictive Control

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

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

  57. Agent as Policy for Robotic Manipulation

    Sep 11, 2026Mengzhao Jia, Yang Lin, Xixin Zhang +3Robot PoliciesReal-World Manipulation Tasks

  58. Rapid Learning of Dexterous In-Hand Pen Writing through Real-Time Jacobian Estimation

    Sep 11, 2026Kai Stewart, Yasunori Toshimitsu, Robert K. KatzschmannDexterous Robot HandsGeneralizable Robotic Manipulations

  59. RodForesight: A World Model Enhanced Diffusion Policy for Slender Rod Insertion

    Sep 10, 2026Chuanbo Yu, Mingyu Yue, Yan Lyu +2Generalizable Robotic ManipulationsDiffusion Policies

  60. MoPA: Coordinated Mobile Manipulation via Subsystem-Specific Perception Alignment

    Sep 10, 2026Guangyu Chen, Qiwei Liang, Shaolong Zhu +7Perception-Action LoopManipulation