Manipulation

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Period ending 2026-09-21

45 new papers

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

    Jul 6, 2026Yunchao Zhang, Yijia Weng, Ruizhe Liu +3Robotic Manipulation PoliciesRobust Manipulation

  2. 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 PoliciesSim-To-Real Gap

  3. HALO-WA: Hybrid-Attention Latent-Guided Online Reinforcement Learning for World-Action Models

    Jul 5, 2026Angen Ye, Weijie Ke, Xiaofeng Wang +7Efficient World-Action ModelReal-World Manipulation Tasks

  4. SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects

    Jul 5, 2026Bowen Jing, Mingxin Wang, Ruiyang Hao +15Generalizable Robotic ManipulationsDeformable Objects

  5. HRIBench: Benchmarking Interaction-Centric Human-Robot Collaboration

    Jul 5, 2026Chang Liu, Jiawei Zhang, Tao Zhang +3Human-Robot CollaborationCollaboration

  6. A Clustering-Based Framework for Identifying Suspicious Trading Patterns in Capital Market

    Jul 5, 2026Asif Zaman, Romona Magdalene Sarkar, Sabiha Khair Ohi +1Fraud DetectionImage Clustering

  7. ObjRetarget: An Object-Aware Motion Retargeting Framework with Anthropomorphic Arm Constraints and Polyhedral Hand Modeling

    Jul 4, 2026Yuanchuan Lai, Qing Gao, Ziyan Liang +2Motion RetargetingGeneralizable Robotic Manipulations

  8. ROBOCYCLE: Autonomous Dual-Arm Robotic Manipulation and Coordination for Recycling Applications

    Jul 3, 2026Rubén de J. Hilario-Cruz, Jesus A. García-González, Enrique Coronado +1WasteRobotic Perception

  9. Cross-Embodiment Robot Manipulation via a Unified Hand Action Space

    Jul 3, 2026Luis Felipe Casas, Robert Teal, Keval Shah +3Dexterous Robot HandsRobotic Manipulation Policies

  10. Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation

    Jul 3, 2026Chenyang Ma, Yunchao Yao, Zhenyu Wei +3ProprioceptionDexterous Manipulation

  11. Beyond Point-Attached Semantics: Stable Object-Centric Semantic Fields for Robust Manipulation

    Jul 3, 2026Zheng Sun, Lerong Zhang, Zhihao Li +3Generalizable Robotic ManipulationsBimanual Manipulation

  12. Differential Amplifier-Inspired AmpAttention for Multi-View Robotic Manipulation

    Jul 3, 2026Jin Yang, Ping Wei, Nanning ZhengGeneralizable Robotic ManipulationsReal-World Tasks

  13. TACO: TActile World Model as a Self-COrrector for Scalable Robot Policy Post-Training

    Jul 3, 2026Shengbang Liu, Yueru Jia, Yuyang Yan +7Tactile World ModelPretrained Vision-Language-Action

  14. MorphQuad: Morphable Quadrotor for Superhuman Maneuverability, Manipulation, and Resiliency

    Jul 2, 2026J. Diaz Peon Gonzalez Pacheco, J. Xu, A. Zhao +7Flight PerformanceAdvanced Jet Trainer

  15. VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation

    Jul 2, 2026Shuai Tian, Yupeng Zheng, Yuhang Zheng +7Tactile World ModelReal-World Manipulation Tasks

  16. PhysMani: Physics-principled 3D World Model for Dynamic Object Manipulation

    Jul 2, 2026Peng Yun, Shouwang Huang, Hao Li +3Efficient World-Action Model3D World

  17. Gaming Consensus: Coordinated Manipulation in Crowdsourced Fact-Checking

    Jul 2, 2026Nikil Roashan Selvam, Jay Baxter, Sophie Hilgard +4Fact-CheckingCrowdsourced Framework

  18. Imagining the Sense of Touch: Touch-Informed Manipulation via Imagined Tactile Representations

    Jul 2, 2026Zhiyuan Zhang, Adeesh Desai, Jyun-Chi Hu +7Tactile PerceptionReal-World Manipulation Tasks

  19. Sensorless Four-Channel Control Architecture Using Inverse Dynamics Modeling for Human-Scale Bilateral Teleoperation

    Jul 1, 2026Amir Noohian, Dylan Miller, Justin Valentine +2TeleoperationInverse Dynamics

  20. FAR: Failure-Aware Retry for Test-Time Recovery and Continual Policy Improvement

    Jul 1, 2026Haoran Hao, Shahram Najam Syed, Jeffrey Ichnowski +1RetryingRobot Policies

  21. Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation

    Jul 1, 2026Chi Zhang, Penglin Cai, Ziheng Xi +6Human-To-Robot TransferGeneralizable Robotic Manipulations

  22. DynaWM: A Base-VLA-Guided World Foundation Model for Moving-Object Manipulation

    Jul 1, 2026Chongkei Chang, Zhidong DengVision-Language-Action ModelsManipulation

  23. Unleashing More Actions via Action Compositional Training for VLA Models

    Jul 1, 2026Kai Peng, Jie Lu, Xiaojiang PengVision-Language-Action ModelsRobotic Datasets

  24. DVG-WM: Disentangled Video Generation Enables Efficient Embodied World Model for Robotic Manipulation

    Jun 30, 2026Ziyu Shan, Zhenyu Wu, Xiaofeng Wang +2Video World ModelsGeneralizable Robotic Manipulations

  25. Freeform Preference Learning for Robotic Manipulation

    Jun 30, 2026Marcel Torne, Anubha Mahajan, Abhijnya Bhat +1Robot PoliciesPreference Learning

  26. OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation

    Jun 30, 2026Arnav Balaji, Arpit Bahety, Sriniket Ambatipudi +3Generalizable Robotic ManipulationsImitation Learning

  27. CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations

    Jun 30, 2026Bowen Jiang, William Painter Reger, Roberto Martin-MartinRobotic Manipulation PoliciesReal-World Manipulation Tasks

  28. UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models

    Jun 30, 2026Xidong Zhang, Yichi Zhang, Jiaxin Shi +5Tactile World ModelTactile Perception

  29. Robustness of Robotic Manipulation: Foundations and Frontiers

    Jun 30, 2026Yifei Dong, Zhanyi Sun, Lujie Yang +5Robust ManipulationManipulation

  30. Agentic RAG-VLM: Affordance-Aware Retrieval-Augmented Generation with Self-Reflective Planning for Robotic Grasping

    Jun 30, 2026Tao Chen, Lizheng Liu, Jiaxu Wang +4Grasp GenerationGeneralizable Robotic Manipulations

  31. Efficient Sim-to-Real Transfer of World-Action Models from Synthetic Priors

    Jun 30, 2026Zixing Wang, Kausik Sivakumar, Jinghuan Shang +5Zero-Shot Sim-To-Real TransferSim-To-Real Gap

  32. Warp RL: Reshaping Base Policy Distributions for Dynamics Adaptation

    Jun 30, 2026Ethan Hirschowitz, Fabio RamosDeep Reinforcement LearningGeneralizable Robotic Manipulations

  33. From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation

    Jun 29, 2026Ying Yuan, Xinyu Liu, Sriram Krishna +1Dexterous ManipulationGripper

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

    Jun 29, 2026Licheng Zhong, Gim Hee LeeGrasp GenerationRobust Manipulation

  35. Behavior Prompting Policy: Demonstrations as Prompts for Manipulation

    Jun 29, 2026Austin Patel, Ben Pekarek, Joel Enrique Castro Hernandez +1Visuomotor PolicyManipulation

  36. Vision-Language-Action Models: Experimental Insights from a Real-World UR5 Platform

    Jun 29, 2026Mathilde Hochedel, Marc LalondeVision-Language-Action ModelsRobotic Datasets

  37. OpenSPM: An Environment-Transferable Robotic Key Spatial Pose Memory and Closed-Loop High-Frequency Flow-Matching Action Generation Model

    Jun 29, 2026Iok Tong Lei, Qingchen Xie, Yifan Wang +2Generalizable Robotic ManipulationsSpatial Memory

  38. Analytic Concept-Centric Memory for Agentic Embodied Manipulation

    Jun 29, 2026Mingyang Sun, Xiujian Liang, Jiude Wei +4Embodied AgentsAgent Memory

  39. CORE: Common Outcome Regularities from Action-Free Visual Demonstrations for Robot Manipulation

    Jun 28, 2026Juyi Sheng, Jincheng Li, Mingxin Tan +1Scalable Robot Data SynthesisManipulation

  40. LAMP: Long-Horizon Adaptive Manipulation Planning for Multi-Robot Collaboration in Cluttered Space

    Jun 28, 2026Shuai Zhou, Yorai Shaoul, Jiaoyang LiMulti-Robot SystemsLong-Horizon Planning

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

    Jun 26, 2026Dihong Huang, Zhenyu Wei, Zhuxiu Xu +3Robotic Manipulation PoliciesReal-World Manipulation Tasks

  42. Learning Stable In-Grasp Manipulation in a Non-Dropping Action Space

    Jun 26, 2026Ha Thang Long Doan, Hikaru Arita, Kazuto Nakashima +1Grasp GenerationDexterous Manipulation

  43. PA-BiCoop: A Primary-Auxiliary Cooperative Framework for General Bimanual Manipulation

    Jun 26, 2026Bai Qicheng, Wang Ziru, Ma Teli +3Bimanual ManipulationManipulation

  44. Translation as a Bridging Action: Transferring Manipulation Skills from Humans to Robots

    Jun 26, 2026Sijin Chen, Kaixuan Jiang, Haixin Shi +6Human-To-Robot TransferBimanual Manipulation

  45. PhysisForcing: Physics Reinforced World Simulator for Robotic Manipulation

    Jun 26, 2026Peiwen Zhang, Yufan Deng, Shangkun Sun +11Physics SimulationManipulation

  46. S2^2-VLA: State-Space Guided Vision-Language-Action Models for Long-Horizon Manipulation

    Jun 26, 2026Zhipeng Xie, Zongyi Han, Xiangyi Wei +3Vision-Language-Action ModelsLong-Horizon Planning

  47. Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?

    Jun 26, 2026Guoheng Sun, Kaixi Feng, Shwai He +8Vision-Language-Action ModelsGeneralizable Robotic Manipulations

  48. Direct Action-Head Injection of A Grounded 3D Point Unlocks Spatial and Task Generalization

    Jun 26, 2026Shiang-Feng Tsai, Jin-Cheng Jhang, Yen-Ling Tai +4Vision-Language-Action ModelsGeneralizable Robotic Manipulations

  49. VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity

    Jun 25, 2026Yuemin Mao, Uksang Yoo, Jean Oh +2Dexterous ManipulationGeneralizable Robotic Manipulations

  50. LA4VLA: Learning to Act without Seeing via Language-Action Pretraining

    Jun 25, 2026Tao Lin, Yuxin Du, Yiran Mao +13Vision-Language-Action ModelsModel Pretraining

  51. RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation

    Jun 25, 2026Guodong Zhang, Qichen He, Wenyuan Xie +6Generalizable Robotic ManipulationsAffordances

  52. Improving Vision-Language-Action Model Fine-Tuning with Structured Stage and Keyframe Supervision

    Jun 25, 2026Yuan Xu, Yixiang Chen, Kai Wang +5Vision-Language-Action ModelsGeneralizable Robotic Manipulations

  53. WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation

    Jun 24, 2026Baiqi Li, Ce Zhang, Yu Fang +4Generalizable Robotic ManipulationsFine-Grained Actions

  54. CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation

    Jun 24, 2026Haonan Chen, Yuxiang Ma, Stephen Tian +7Real-World Manipulation TasksManipulation

  55. ForceBand: Learning Forceful Manipulation with sEMG

    Jun 24, 2026Botao He, Zhi Wang, Linna Kuang +8Robotic Manipulation PoliciesGround Reaction Forces

  56. Action ControlNet: A Lightweight Delay-Aware Adapter for Smooth Asynchronous Control in Vision-Language-Action Models

    Jun 24, 2026Tiecheng Guo, Meng GuoVision-Language-Action ModelsGeneralizable Robotic Manipulations

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

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

  58. Manipulation Is Task-Dependent: A Multi-Axis, Multi-Environment Evaluation of Frontier LLMs

    Jun 24, 2026Adeeb Zaman, Erik Nordby, Fred HeidingTask FramingManipulation

  59. LiMoDE: Rethinking Lifelong Robot Manipulation from a Mixture-of-Dynamic-Experts Perspective

    Jun 24, 2026Zhihao Gu, Lin WangUnseen-Task AdaptationGeneralizable Robotic Manipulations

  60. DynaMOMA: Instantaneous Prediction of Grasp Poses for Mobile Manipulation of Dynamic Objects

    Jun 24, 2026Zhinan Yu, Junyan Xu, Jiazhao Zhang +9Grasp GenerationGeneralizable Robotic Manipulations