Manipulation

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Period ending 2026-09-21

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  1. A Bilateral Teleoperation Framework for Dexterous Manipulation

    Jun 13, 2026Stefano Dalla Gasperina, Dong Ho Kang, Haiyun Zhang +10TeleoperationDexterous Manipulation

  2. Inference-time Policy Steering via Vision and Touch

    Jun 12, 2026Yilin Wu, Zilin Si, Zeynep Temel +2Robot PoliciesTactile World Model

  3. Interaction Dynamics for Dexterous Manipulation

    Jun 12, 2026Yongyan CaoDexterous Robot HandsDexterous Manipulation

  4. Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera

    Jun 12, 2026Seoyoon Kim, Kanghyun Kim, Dongwoo Ko +2Visuomotor PolicyDiffusion Policies

  5. AERMANI-PLACE: Language Guided Object Placement with Aerial Manipulators

    Jun 12, 2026Sarthak Mishra, Ritama Sanyal, Rishabh Dev Yadav +2Aerial Vision-Language NavigationAerial Manipulation

  6. The Perceived Fragility of Explanations in Audio Models: Manipulation of Attribution with Unchanged Predictions

    Jun 12, 2026Piotr Kitłowski, Dominik Wiącek, Mateusz ModrzejewskiAudio Deepfake DetectionFragility

  7. Elastic Queries Reinforcement Learning: Self-Aware Policy Execution for VLA Models

    Jun 12, 2026Ge Wang, Xinyu Tan, Xiang Li +11Vision-Language-Action ModelsLatent Actions

  8. ReactVLA: Fast and Lightweight Reactive Robot Manipulation via Improved Mean Flow Action Generation

    Jun 12, 2026Yanzhao Guo, Wenkai Chen, Jianwei ZhangGeneralizable Robotic Manipulations

  9. Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback

    Jun 12, 2026Litian Liang, Jingxi Xu, Xinda Qi +7ExoskeletonActuator

  10. Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation

    Jun 12, 2026Wei-Chen Li, Jeffrey Fang, Sasanka Polisetti +2Deformable ObjectsRobotic Arms

  11. WAM4D: Fast 4D World Action Model via Spatial Register Tokens

    Jun 12, 2026Ying Li, Xiaobao Wei, Jiajun Cao +10Efficient World-Action ModelFaster-Wam

  12. Mana: Dexterous Manipulation of Articulated Tools

    Jun 11, 2026Zhao-Heng Yin, Guanya Shi, Pieter Abbeel +1Dexterous ManipulationManipulation

  13. WEAVER, Better, Faster, Longer: An Effective World Model for Robotic Manipulation

    Jun 11, 2026Arnav Kumar Jain, Yilin Wu, Jesse Farebrother +2Efficient World-Action ModelWorld Models

  14. MCR-Bionic Hand: Anatomical Structural Priors for Dexterous Manipulation

    Jun 11, 2026Haosen Yang, Guowu WeiDexterous Robot HandsFinger

  15. GIVE: Grounding Human Gestures in Vision-Language-Action Models

    Jun 11, 2026Pengfei Liu, Gen Li, Junqiao Fan +4Vision-Language-Action ModelsGeneralizable Robotic Manipulations

  16. FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation

    Jun 11, 2026Chengbo Yuan, Zicheng Zhang, Mingjie Zhou +14Tactile PerceptionRobotic Manipulation Policies

  17. RoboProcessBench: Benchmarking Process-Aware Understanding in Vision-Language Robotic Manipulation

    Jun 11, 2026Dayu Xia, Yue Shi, Yao Mu +7Generalizable Robotic ManipulationsEvaluation Benchmarks

  18. Pipette: An Embodied Simulation Platform, Benchmark, and Data-Efficient Augmentation Framework for Wet-Lab Robotics

    Jun 11, 2026Zhe Liu, Huanbo Jin, Zhaohui Du +10Generalizable Robotic ManipulationsHuman-In-The-Loop

  19. Bounding Boxes as Goals: Language-Conditioned Grasping via Neuro-Symbolic Planning

    Jun 11, 2026Allison Andreyev, Landon Eum, Nestor Tiglao +1Real-World Manipulation TasksClassical Planning

  20. Sparse2Act: Learning Action-Aligned Sparse 3D Representations for Cross-Domain Robot Manipulation

    Jun 10, 2026Yu Guo, Chang Yu, Siyu Ma +4Generalizable Robotic ManipulationsEnd-Effector Pose

  21. FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning

    Jun 10, 2026Steven Oh, Jason Jingzhou Liu, Tony Tao +5Ground Reaction ForcesRobotic Manipulation Policies

  22. Bridging the Morphology Gap: Adapting VLA Models to Dexterous Manipulation via Intent-Conditioned Fine-Tuning

    Jun 10, 2026Chuanke Pang, Junyi Huang, Zhijun Zhao +3Generalizable Robotic ManipulationsVision-Language-Action Models

  23. Action-Effect Memory Pretraining for Robot Manipulation

    Jun 10, 2026Yijing Zhou, Qiwei Liang, Sitong Zhuang +5ManipulationTemporal Deep Learning Framework

  24. μμVLA: On Recurrent Memory for Partially Observable Manipulation in VLA Models

    Jun 10, 2026Egor Cherepanov, Nikita Kachaev, Daniil Zelezetsky +6Vision-Language-Action ModelsRecurrent Model

  25. VICX: Generalizable Robot Manipulation via Video Generation and In-Context Operator Network

    Jun 10, 2026Song Chen, Linyan Xiang, Ying Zhou +1Generalizable Robotic ManipulationsRobot Systems

  26. Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation

    Jun 10, 2026Mehmet Turan YardımcıHumanoid Loco-ManipulationPerceptive Locomotion Policies

  27. Human-Guided Co-Manipulation of Carbon Fiber Plies

    Jun 10, 2026Rami Ojanen, James Fant-Male, Roel PietersHuman-Robot CollaborationManipulation

  28. Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learning

    Jun 10, 2026Shengcheng Luo, Xiyan Huang, Zhe Xu +3Dexterous Robot HandsRobotic Manipulation Policies

  29. Learning Object Manipulation from Scratch via Contrastive Interaction

    Jun 10, 2026Tongle Shen, Caleb Chuck, Fan Feng +1Real-World Manipulation TasksContrastive

  30. Embodiment-conditioned Generalist Control for Multirotor Aerial Robots

    Jun 9, 2026Orestis Konstantaropoulos, Welf Rehberg, Mihir Kulkarni +1Quadrotor ControlRobotic Manipulation Policies

  31. IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

    Jun 9, 2026Jiawei Gao, Chaoqi Liu, Peilin Wu +2Impedance ControlEnd-Effector Pose

  32. ManiSplat: Manipulation Trajectory Synthesis from Monocular Video via Decoupled 3D Gaussian Splatting

    Jun 9, 2026Wenhao Hu, Haonan Zhou, Liu Liu +5Dynamic Scene Reconstruction3D Gaussian Splats

  33. Dexterous Point Policy: Learning Point-based Dexterous Hand Policies from Human Demonstrations

    Jun 9, 2026Beomjun Kim, Seong Hyeon Park, Seunghoon Sim +3Robotic Manipulation PoliciesHand

  34. VeriSpace: Spatially Grounded Action Verification for Vision-Language-Action Models

    Jun 9, 2026Guiyu Zhao, Longteng Guo, Junyou Zhu +6Generalizable Robotic ManipulationsGlobal Spatial Information

  35. UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data

    Jun 9, 2026Shi Jin, Yuntian Wang, Yuhui Duan +16Robotic Manipulation PoliciesGeneralizable Robotic Manipulations

  36. What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents

    Jun 9, 2026Jiaheng Hu, Mohit Shridhar, Caden Lu +4Executable Robot BehaviorRobot Policies

  37. Efficient-WAM: A 1B-Parameter World-Action Model with Low-Cost Future Imagination

    Jun 8, 2026Jiajun Li, Tiecheng Guo, Yifan Ye +9Efficient World-Action ModelFaster-Wam

  38. GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation

    Jun 8, 2026Sriram Krishna, Ben Eisner, Haotian Zhan +5Generalizable Robotic ManipulationsVisuomotor Control

  39. iMaC: Translating Actions into Motion and Contact Images for Embodied World Models

    Jun 8, 2026Zhenyu Wu, Xiuwei Xu, Yukun Zhou +8Efficient World-Action ModelGeneralizable Robotic Manipulations

  40. SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps

    Jun 8, 2026Yanming Shao, Zanxin Chen, Wenwei Lin +5Grasp GenerationGeneralizable Robotic Manipulations

  41. DexPIE: Stable Dexterous Policy Improvement from Real-World Experience

    Jun 8, 2026Ruizhe Liao, Wenrui Chen, Liangji Zeng +4Robotic Manipulation PoliciesGeneralizable Robotic Manipulations

  42. TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation

    Jun 8, 2026Huaihang Zheng, Yi Yang, Kai Ma +8Generalizable Robotic ManipulationsContact-Rich Manipulation

  43. Benchmarking Vision-Language-Action Models on SO-101: Failure and Recovery Analysis

    Jun 7, 2026Yi Yu, Xinchuan QiuPretrained Vision-Language-ActionVision-Language-Action Models

  44. Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks

    Jun 7, 2026Raktim Gautam Goswami, Prashanth Krishnamurthy, Yann LeCun +1Efficient World-Action ModelGeneralizable Robotic Manipulations

  45. RGB-S: Image-Aligned Tactile Saliency for Robust Dexterous Manipulation

    Jun 7, 2026Shengcheng Luo, Kefei Wu, Xiaoying Zhou +3Tactile PerceptionGeneralizable Robotic Manipulations

  46. Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation

    Jun 7, 2026Yunfan Lou, Yifan Ye, Yankai Fu +7Tactile World ModelGeneralizable Robotic Manipulations

  47. Thinking Without Images: Internalizing Visual Manipulation with On-Policy Self-Distillation

    Jun 7, 2026Yishuo Cai, Jiahui Liu, Yuanxin Liu +9Visual ReasoningFine-Grained Perception

  48. Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation

    Jun 7, 2026Zhexuan Zhou, Yichen Lai, Jinhao Zhang +3Visuomotor PolicyLatent Actions

  49. Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation

    Jun 7, 2026Kunqi Xu, Zhenhao Huang, Siyuan Luo +2Generalizable Robotic ManipulationsRobust Manipulation

  50. FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation

    Jun 7, 2026Haotian He, Zeyu Yan, Qipeng Liu +2Tactile World ModelGround Reaction Forces

  51. Autonomous Aerial Manipulation via Contextual Contrastive Meta Reinforcement Learning

    Jun 7, 2026Lixuan Jin, Bingxuan Lan, Xinyi Bao +9Aerial ManipulationManipulation

  52. GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation

    Jun 7, 2026Yuan Zhang, Shiqi Zhang, Yedong Shen +11Vision-Language-Action ModelsGeneralizable Robotic Manipulations

  53. Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking

    Jun 6, 2026Alessandro Montenegro, Shihao Li, Puze Liu +2Robotic Manipulation PoliciesControl System Operator Learning

  54. Vision-Guided Dual-Arm Humanoid Robotic Disassembly of End-of-Life 18650 Lithium-ion Battery Packs

    Jun 6, 2026Yile Chen, Zhihao Liu, Xi Vincent Wang +1Lithium-Ion BatteriesGeneralizable Robotic Manipulations

  55. Trustworthy Visual Predicates for Robust Manipulation Understanding under Degradation

    Jun 6, 2026Fatemeh ZiaeetabarRobust ManipulationVisual Reasoning

  56. Revisiting Articulated Parts Perception in Robot Manipulation

    Jun 6, 2026Xiaoqian Wu, Yejie Guo, Xiaoyang Chen +3Generalizable Robotic ManipulationsCategory-Level Object Pose Estimation

  57. Affordance-Based Hierarchical Reinforcement Learning for Quadruped Pedipulation

    Jun 5, 2026Tuba Girgin, Jose Castelblanco, Gabriel Rodriguez +2Hierarchical Reinforcement LearningAffordances

  58. Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models

    Jun 5, 2026Jinhao Wu, Shiduo Zhang, Yicheng Liu +9Vision-Language-Action ModelsClassical Planning

  59. Detecting Temporally Localized Manipulations in Authentic Video Streams

    Jun 5, 2026Okan Umur, Ali Emre Güşlü, Ibrahim DelibasogluDeepfake DetectionVideo Dataset

  60. AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation

    Jun 4, 2026Jiyun Jang, Yujin Sung, Woosung Joung +5Visuomotor PolicyRobotic Manipulation Policies