Manipulation

Follow this field Ask about this field

Recent momentum

emerging

0 papers in the last 28 days · 0.0% of indexed attention

Twelve weeks of publication activity for this topic as it is defined today.

Weekly history

Recent digests

What was published in this field, kept on the site without email delivery.

Period ending 2026-09-21

45 new papers

A weekly snapshot of new work published in Manipulation.

Period ending 2026-09-14

18 new papers

A weekly snapshot of new work published in Manipulation.

Period ending 2026-09-07

9 new papers

A weekly snapshot of new work published in Manipulation.

Inside this field

Focused directions

Focused topic

Generalizable Robotic Manipulations

Within Manipulation

296 papersExplore

Focused topic

Manipulation

Within Manipulation

250 papersExplore

Focused topic

Robotic Manipulation Policies

Within Manipulation

89 papersExplore

Focused topic

Real-World Manipulation Tasks

Within Manipulation

80 papersExplore

Focused topic

Robust Manipulation

Within Manipulation

25 papersExplore

646 papers

Latest in Manipulation

Browse all topics →

PhyPush: One Push is All You Need for Sensorless Physical Property Estimation with Physics-Guided Transformers
May 25, 2026Koyo Fujii, Luis Figueredo, Praminda Caleb-Solly +4Ground Reaction Forces Friction
OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation
May 25, 2026Xinzhe Chen, Sihua Ren, Liqi Huang +5Generalizable Robotic Manipulations Visuomotor Policy
Compliant Non-Prehensile Pushing Manipulation
May 25, 2026Francesco Cufino, Mario Selvaggio, Fabio Amadio +1Robust Manipulation Impedance Control
EXPO-FT: Sample-Efficient Reinforcement Learning Finetuning for Vision-Language-Action Models
May 25, 2026Perry Dong, Kuo-Han Hung, Tian Gao +2Vision-Language-Action Models Robotics
Prior Policy Guided Dual-Agent Coordinated Manipulation Planning of Spacecraft-Manipulator System
May 25, 2026Yuhui Hu, Dong Zhou, Kaihong Ouyang +3Robotic Arms Robotic Manipulation Policies
InvariantCloud: A Globally Invariant, Uniquely Indexed Point Cloud Framework for Robust 6-DoF Tactile Pose Tracking
May 24, 2026Pengfei Ye, Yuxiang Ma, Yi Zhou +3Category-Level Object Pose Estimation 6-Dof
WorldCraft: From Camera Navigation to Object Manipulation in Interactive Video World Models
May 24, 2026Bohai Gu, Taiyi Wu, Yueyang Yuan +9Video World Models Camera Control
Learning High-Frequency Continuous Action Chunks in Latent Space
May 24, 2026Kunyun Wang, Yuhang Zheng, Yupeng Zheng +2Action Chunks Generalizable Robotic Manipulations
DexSIM: Real-time Dexterous Simulation with Unified Causal Video Diffusion
May 23, 2026Adam LeeZero-Shot Sim-To-Real Transfer Generalizable Robotic Manipulations
RoboHitch: Learning Visual Affordance from Disordered Keypoints for Hitch Knots Tying
May 23, 2026Jiahui Zuo, Boyang Zhang, Fumin ZhangKnots Generalizable Robotic Manipulations
IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems
May 23, 2026Qixin Liang, Zhongqing HanContact Forces Contact-Rich Manipulation
Afford-VLA: Action-Aligned Visual Planning via Internalized Affordance
May 22, 2026Runze Wang, Yuqian Fu, Yu Li +7Vision-Language-Action Models Affordances
ComPose: When to Trust Hands for Object Pose Tracking
May 22, 2026Jisu Shin, Junoh Lee, JunGyu Lee +53D Hand Category-Level Object Pose Estimation
Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation
May 22, 2026Chengyu Deng, Guanqi Chen, Yizhou Chen +4Generalizable Robotic Manipulations Diffusion Policies
Robots That Know What to Ask: Recovering Misaligned Rewards through Targeted Explanations
May 21, 2026Helena Merker, Nick Walker, Andreea BobuScalable Robot Learning Robot Systems
GesVLA: Gesture-Aware Vision-Language-Action Model Embedded Representations
May 21, 2026Wenxuan Guo, Ziyuan Li, Meng Zhang +7Generalizable Robotic Manipulations Co-Speech Gesture Generation
Spatial Memory for Out-of-Vision Manipulation in Vision-Language-Action
May 21, 2026Pengteng Li, Weiyu Guo, He Zhang +4Vision-Language-Action Models Real-World Manipulation Tasks
TacO: Benchmarking Tactile Sensors for Object Manipulation
May 21, 2026Anya Zorin, Zilin Si, Myungsun Park +11Tactile Sensors Manipulation
SCI-Defense: Defending Manipulation Attacks from Generative Engine Optimization
May 21, 2026Xucheng Yu, Haibo Jin, Huimin Zeng +1Review Scientific Discovery
Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
May 20, 2026Albert Wu, Riccardo Bonalli, Thomas Lew +1Generalizable Robotic Manipulations Motion Planners
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
May 20, 2026Kaichen Zhou, Yuzhen Chen, Fangneng Zhan +8Video World Models Real-World Manipulation Tasks
PGDG: Physically Grounded Data Generation for Robust Bimanual Policy Learning from a Single Demonstration
May 20, 2026Cunxi Dai, Haoran Chang, Aditya Nisal +5Bimanual Manipulation Robotic Manipulation Policies
PointACT: Vision-Language-Action Models with Multi-Scale Point-Action Interaction
May 20, 2026Shizhe Chen, Paul Pacaud, Cordelia SchmidVision-Language-Action Models Generalizable Robotic Manipulations
From swept contact to pose: Probe-aware registration via complementary-shape docking
May 20, 2026Chen Chen, Yunwen Li, Yifan Xu +5Feature Matching Contact-Rich Manipulation
Learning Robust Dexterous In-Hand Manipulation from Joint Sensors with Proprioceptive Transformer
May 20, 2026Senlan Yao, Chenyu Yang, Jaehoon Kim +2Dexterous Robot Hands Proprioception
When Agents Talk: Discourse, Manipulation, and Risk in an Agentic Social Network
May 20, 202610a Labs, :, Grace Cheong +22Malicious Code Artificial Intelligence Agents
VLA-REPLICA: A Low-Cost, Reproducible Benchmark for Real-World Evaluation of Vision-Language-Action Models
May 20, 2026Alex S. Huang, Jiahui Zhang, Shiqing Tang +1Robotic Datasets Generalizable Robotic Manipulations
Beyond Binary Success: A Diagnostic Meta-Evaluation Framework for Fine-Grained Manipulation
May 19, 2026He-Yang Xu, Pengyuan Zhang, Zongyuan Ge +5Manipulation
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
May 18, 2026Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar +2Generalizable Robotic Manipulations Contact-Rich Manipulation
ManiSoft: Towards Vision-Language Manipulation for Soft Continuum Robotics
May 18, 2026Ziyu Wei, Luting Wang, Chen Gao +2Generalizable Robotic Manipulations Soft Robots
Not What You Asked For: Typographic Attacks in Household Robot Manipulation
May 18, 2026Ali Iranmanesh, Peng LiuGeneralizable Robotic Manipulations Robot Systems
Active Defense Against False Data Injection Attacks in Robotic Manipulators
May 18, 2026Gabriele Gualandi, Carl Mikael Larsson, Alessandro V. PapadopoulosRobotic Arms Feedback Linearization
TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation
May 18, 2026Zhongyuan Liao, Junzhe Wang, Qingyang Liu +6Tactile Perception Gripper
Virtues of Ordered Chaos: Planning with Topple Actions in Tabletop Stack Rearrangement
May 18, 2026Hao Lu, Rahul ShomeReal-World Manipulation Tasks Planning Methods
From a Single Demonstration to a General Policy for Contact-Rich Manipulation
May 17, 2026Xing Li, Oliver BrockRobotic Manipulation Policies Real-World Manipulation Tasks
Generalizable and Actionable Parts Pose Estimation with Symmetry Annotation-Free Learning Strategy
May 16, 2026Wenxiao Chen, Xueyu Yuan, Liu Liu +2Category-Level Object Pose Estimation Generalizable Robotic Manipulations
Learning Sim-Grounded Policies for Bimanual Rope Manipulation from Human Teleoperation Data
May 15, 2026Gina Wigginghaus, Tim Missal, Berk Guler +2Robotic Manipulation Policies Bimanual Manipulation
GAP: Geometric Anchor Pre-training for Data-Efficient Visuomotor Learning of Manipulation Tasks
May 15, 2026Davide Buoso, Andrea Protopapa, Stefano Di Carlo +2Visuomotor Policy Imitation Learning
Learning Dynamic Pick-and-Place for a Legged Manipulator
May 15, 2026Moonkyu Jung, Jiseong Lee, Zhengmao He +8Task-Centric Hybrid Whole-Body Controller Robotic Arms
KaRMA: A Kinematic Metric for Fine Manipulation Ability in Robotic Hands
May 15, 2026Martin Peticco, Pulkit AgrawalDexterous Robot Hands Hand
SkiP: When to Skip and When to Refine for Efficient Robot Manipulation
May 15, 2026Mingtong Dai, Guanqi Peng, Yongjie Bai +5Generalizable Robotic Manipulations Imitation
Learning with Conflicts of Interest
May 15, 2026Nischal Aryal, Arash Termehchy, Ali Vakilian +1Game Theory Implicit Bias
Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention
May 14, 2026Zhuohang Li, Liqun Huang, Wei Xu +5Robotic Manipulation Policies Teleoperation
Evo-Depth: A Lightweight Depth-Enhanced Vision-Language-Action Model
May 14, 2026Tao Lin, Yuxin Du, Jiting Liu +14Efficient Vision-Language-Action Models Vision-Language-Action Models
RoboEvolve: Co-Evolving Planner-Simulator for Robotic Manipulation with Limited Data
May 13, 2026Harold Haodong Chen, Sirui Chen, Yingjie Xu +2Robocasa Classical Planning
Manipulation Planning for Construction Activities with Repetitive Tasks
May 13, 2026Wangyi Liu, Dasharadhan Mahalingam, Fanru Gao +2Real-World Manipulation Tasks Manipulation
SID: Sliding into Distribution for Robust Few-Demonstration Manipulation
May 13, 2026Yicheng Ma, Wei Yu, Zhian Su +2Robotic Manipulation Policies Egocentric Vision
SECOND-Grasp: Semantic Contact-guided Dexterous Grasping
May 13, 2026Han Yi Shin, Heeju Ko, Jaewon Mun +6Grasp Generation Generalizable Robotic Manipulations
Object Manipulation of the Variable Topology Truss system
May 13, 2026Andrew Jang-Ho Bae, Myeongjin Choi, Haorui Li +2Robotic Arms Manipulation
When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulation
May 13, 2026Maxime Alvarez, Ryo Watanabe, Paul Crook +4Proprioception Robust Manipulation
SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation
May 12, 2026Chengyue Huang, Khang Vo Huynh, Sebastian Elbaum +2Generalizable Robotic Manipulations Safety
Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
May 12, 2026Max Siebenborn, Daniel Ordoñez Apraez, Sophie Lueth +4Bimanual Manipulation Robotic Manipulation Policies
From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulation
May 12, 2026Sheng Xu, Ruixing Jin, Huayi Zhou +6Generalizable Robotic Manipulations Robot Planning
Learning Action Manifold with Multi-view Latent Priors for Robotic Manipulation
May 12, 2026Junjin Xiao, Dongyang Li, Yandan Yang +9Vision-Language-Action Models Generalizable Robotic Manipulations
Exploring Token-Space Manipulation in Latent Audio Tokenizers
May 11, 2026Francesco Paissan, Luca Della Libera, Mirco Ravanelli +1Audio Tokens Neural Audio Codecs
Forecast-aware Gaussian Splatting for Predictive 3D Representation in Language-Guided Pick-and-Place Manipulation
May 11, 2026Kaixin Jia, Jiacheng XuReal-World Manipulation Tasks Manipulation
HarmoWAM: Harmonizing Generalizable and Precise Manipulation via Adaptive World Action Models
May 11, 2026Qiuxuan Feng, Jiale Yu, Jiaming Liu +8Efficient World-Action Model World Models
PriorVLA: Prior-Preserving Adaptation for Vision-Language-Action Models
May 11, 2026Xinyu Guo, Bin Xie, Wei Chai +4Vision-Language-Action Models Vision-Language Model Adaptation
HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions
May 11, 2026Zhenhao Shen, Zeming Yang, Yue Chen +5Generalizable Robotic Manipulations Manipulation
StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perception
May 11, 2026Evans Han, Yunfan Jiang, Yingke Wang +6Robotic Manipulation Policies Visuomotor Policy

May 25, 2026 · cs.ROJ/K move · Enter open · S save

PhyPush: One Push is All You Need for Sensorless Physical Property Estimation with Physics-Guided Transformers

Koyo Fujii, Luis Figueredo, Praminda Caleb-Solly, Ivan Boschi+3

Accurately estimating object mass and friction is fundamental to reliable robotic manipulation. While interactive perception is powerful, most approaches rely on specialized hardware like force/torque sensors, limiting scalability. This paper introduces PhyPush, a physics-guided Transformer that estimates an object's mass and friction coefficient using only end-effector velocity from a single push, data readily available on standard robotic arms. By incorporating Newton's second law and the Coulomb friction model through a physics-guided loss, the model improves physical consistency and generalizes to unseen objects and surfaces. Across diverse setups, PhyPush consistently achieves highly accurate estimations in challenging out-of-domain conditions. In simulation, it reduces error by over 10% compared to a baseline with privileged force data, while in real-world experiments, it successfully zero-shot transfers from simulation to outperform a purely data-driven baseline.

Ground Reaction Forces Friction Generalizable Robotic Manipulations Massive

Open paper Ask about it PDF