Robotic Manipulation

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95 papers in the last four weeks, up 459% on the four weeks before. 0.9% of all new papers.

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ManiSoft: Towards Vision-Language Manipulation for Soft Continuum Robotics
May 18, 2026Ziyu Wei, Luting Wang, Chen Gao +2Soft Robotics Robotic Manipulation
Beihang University · Hangzhou Innovation Institute, Beihang University · National University of Singapore
From Human Videos to Robot Manipulation: A Survey on Scalable Vision-Language-Action Learning with Human-Centric Data
May 18, 2026Zhiyuan Feng, Qixiu Li, Huizhi Liang +12Diffusion-Based Vision-Language-Actions Latent Action Models
1Tsinghua University · 5Microsoft Research Asia · 2HKUST +4
RoboFlow4D: A Lightweight Flow World Model Toward Real-Time Flow-Guided Robotic Manipulation
May 17, 2026Sixu Lin, Junliang Chen, Huaiyuan Xu +8Robotic Manipulation Multimodal Action Distributions
School of Data Science, The Chinese University of Hong Kong (Shenzhen) · The Hong Kong Polytechnic University · Shenzhen Loop Area Institute +1
AffordVLA: Injecting Affordance Representations into Vision-Language-Action Models via Implicit Feature Alignment
May 17, 2026Weijie Kong, Zhian Su, Wei Yu +1Diffusion-Based Vision-Language-Actions Robotic Manipulation
Grasp Lab, School of Mechanical Engineering of Zhejiang University, Hangzhou 310027, China · Torch Kernel Co., Ltd., Hangzhou, 310000, P. R. China
OHP-RL: Online Human Preference as Guidance in Reinforcement Learning for Robot Manipulation
May 15, 2026Yunyang Mo, Jian Li, Qiwei Wu +2Reinforcement Learning From Human Feedback Robotic Manipulation
The Hong Kong University of Science and Technology (Guangzhou)
SkiP: When to Skip and When to Refine for Efficient Robot Manipulation
May 15, 2026Mingtong Dai, Guanqi Peng, Yongjie Bai +5Robotic Manipulation Policies Robotic Manipulation
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences · Southern University of Science and Technology · Peng Cheng Laboratory +2
Evo-Depth: A Lightweight Depth-Enhanced Vision-Language-Action Model
May 14, 2026Tao Lin, Yuxin Du, Jiting Liu +14Diffusion-Based Vision-Language-Actions Robotic Manipulation
School of AI, Shanghai Jiao Tong University · King Abdullah University of Science and Technology · SJTU-Quic Robot Joint Lab +1
DSSP: Diffusion State Space Policy with Full-History Encoding
May 14, 2026Zhiyuan Guan, Jianshu Hu, Han Fang +5Diffusion Policies Imitation Learning
Shanghai Jiao Tong University
RoboEvolve: Co-Evolving Planner-Simulator for Robotic Manipulation with Limited Data
May 13, 2026Harold Haodong Chen, Sirui Chen, Yingjie Xu +2Robotic Manipulation Robocasa
1The Hong Kong University of Science and Technology (Guangzhou) · 2The Hong Kong University of Science and Technology
SECOND-Grasp: Semantic Contact-guided Dexterous Grasping
May 13, 2026Han Yi Shin, Heeju Ko, Jaewon Mun +6Robotic Grasping Robotic Manipulation
1Korea University · University of Texas at Austin · University of Michigan +1
SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation
May 12, 2026Chengyue Huang, Khang Vo Huynh, Mellon M. Zhang +3Robotic Manipulation Safety Claims
Department of Machine Learning, Georgia Institute of Technology · Department of Computer Science, University of Virginia
From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation
May 12, 2026Yajie Li, Bozhou Zhang, Chun Gu +5Latent Actions Robotic Manipulation
School of Data Science, Fudan University · Shanghai Innovation Institute · Imperial College London +1
X-Imitator: Spatial-Aware Imitation Learning via Bidirectional Action-Pose Interaction
May 12, 2026Kai Xiong, Hongjie Fang, Lixin Yang +1Robotic Manipulation Action Generation
Shanghai Jiao Tong University
From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulation
May 12, 2026Sheng Xu, Ruixing Jin, Huayi Zhou +6Robotic Manipulation Bimanual Manipulation
School of Data Science, The Chinese University of Hong Kong, Shenzhen · DexForce Technology, 3Shenzhen Loop Area Institute.
Learning Action Manifold with Multi-view Latent Priors for Robotic Manipulation
May 12, 2026Junjin Xiao, Dongyang Li, Yandan Yang +9Diffusion-Based Vision-Language-Actions Robotic Manipulation
Shenzhen University of Advanced Technology
Rainbow Deep Q-Learning with Kinematics-Aware Design for Cooperative Delta and 3-RRS Parallel Robot Insertion
May 12, 2026Hassen Nigatu, Gaokun Shi, Jituo Li +2Robotic Manipulation Deep Q-Networks
PriorVLA: Prior-Preserving Adaptation for Vision-Language-Action Models
May 11, 2026Xinyu Guo, Bin Xie, Wei Chai +4Diffusion-Based Vision-Language-Actions Vision-Language Model Adaptation
Institute of Automation, Chinese Academy of Sciences · Dexmal · Nanjing University of Aeronautics and Astronautics +1
StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perception
May 11, 2026Evans Han, Yunfan Jiang, Yingke Wang +6Robotic Manipulation Policies Visuomotor Policy
1Stanford University · 2Northwestern University · 3Lambda, Inc
IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
May 9, 2026Jiayun Li, Dejian Gong, Georgia ChalvatzakiRobust Trajectory Rigid-Body Dynamics
1PEARL Lab, Dept. of Computer Science, TU Darmstadt, Germany · 2Hessian.AI, Darmstadt, Germany · 3Robotics Institute Germany (RIG)
ProcVLM: Learning Procedure-Grounded Progress Rewards for Robotic Manipulation
May 9, 2026Youhe Feng, Hansen Shi, Haoyang Li +7Robotic Manipulation Photometric Supervision
School of Information, Renmin University of China · Work done during the internship at Zhipu AI. · Zhipu AI +1
Omni-scale Learning-based Sequential Decision Framework for Order Fulfillment of Tote-handling Robotic Systems
May 9, 2026Jiaxin Liu, Peng Yang, Yuping Li +1Logistics Robotic Systems
Institution of Data and Information, Shenzhen International Graduate School, Tsinghua University, Nanshan District, Shenzhen 518055, China
Trajectory-Consistent Flow Matching for Robust Visuomotor Policy Learning
May 8, 2026Riad Ahmed, Sujosh Nag, Moniruzzaman Akash +2Visuomotor Policy Flow-Matching Vision-Language-Action
University of New Hampshire, Durham, NH, USA
Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation
May 8, 2026Yanzhe Chen, Kevin Yuchen Ma, Qi Lv +4Robotic Manipulation Diversity Collapse
National University of Singapore · Institude for Information Research, A*STAR · Harbin Institute of Technology (Shenzhen).
OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
May 7, 2026Yushan Liu, Peibo Sun, Shoujie Li +7Efficient World-Action Model Faster-Wam
Tsinghua University · Shanghai Jiao Tong University · Nanyang Technological University
Toward Visually Realistic Simulation: A Benchmark for Evaluating Robot Manipulation in Simulation
May 7, 2026Yixin Zhu, Zixiong Wang, Jian Yang +4Robotic Manipulation 3D Assets
Nanjing University · Nankai University · ShanghaiTech University
ConsisVLA-4D: Advancing Spatiotemporal Consistency in Efficient 3D-Perception and 4D-Reasoning for Robotic Manipulation
May 6, 2026Wei Li, Jizhihui Liu, Li Yixing +3Diffusion-Based Vision-Language-Actions 3D Spatial Reasoning
Harbin Institute of Technology, Shenzhen · State Key Laboratory of Mobile Network and Mobile Multimedia Technology, ZTE, China · Shenzhen Loop Area Institute
Latent Bridge: Feature Delta Prediction for Efficient Dual-System Vision-Language-Action Model Inference
May 4, 2026Yudong Liu, Yuan Li, Zijia Tang +12Robotic Manipulation Latent Variable
1Duke University · 2Qualcomm AI Research · University of Florida
Learning Equivariant Neural-Augmented Object Dynamics From Few Interactions
May 4, 2026Sergio Orozco, Tushar Kusnur, Brandon May +2Robotic Manipulation Rigid Objects
Brown University, Providence, RI · Robotics and AI (RAI) Institute, Cambridge, MA · General Motors
CoRAL: Contact-Rich Adaptive LLM-based Control for Robotic Manipulation
May 4, 2026Berk Çiçek, Mert K. Er, Ozgur S. OguzRobotic Manipulation Contact-Rich Manipulation
LiRA Lab, Department of Computer Engineering, Bilkent University, Ankara, Türkiye
ShapeGrasp: Simultaneous Visuo-Haptic Shape Completion and Grasping for Improved Robot Manipulation
May 4, 2026Lukas Rustler, Matej HoffmannRobotic Grasping Gripper
Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic.
VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulation
May 3, 2026Zijian An, Hadi Khezam, Bill Cai +5Robotic Manipulation Diffusion-Based Vision-Language-Actions
Drexel University, Philadelphia, PA 19104, USA · Virginia Seafood Agricultural Research and Extension Center, Virginia Tech, 15 Rudd Ln, Hampton, VA 23669, USA · Amazon Store Foundation AI (SFAI), 12 W 39th St, New York, NY 10018, USA
Embody4D: A Generalist Data Engine for Embodied 4D World Modeling
May 3, 2026Peiyan Tu, Hanxin Zhu, Jingwen Sun +6Cross-Embodiment Transfer Embodiment
Zhejiang University · University of Science and Technology of China · Beijing Zhongguancun Academy +3
Anticipation-VLA: Solving Long-Horizon Embodied Tasks via Anticipation-based Subgoal Generation
May 3, 2026Zhilong Zhang, Wenyu Luo, Haonan Wang +9Generalizable Vision-Language-Action Policies Long-Horizon Planning
National Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China · School of Artificial Intelligence, Nanjing University, Nanjing, China · Department of Foundation model, 2012 Labs, Huawei
Decompose and Recompose: Reasoning New Skills from Existing Abilities for Cross-Task Robotic Manipulation
May 2, 2026Xitie Zhang, Aming Wu, Yahong HanHuman-To-Robot Transfer Robotic Manipulation
School of Artificial Intelligence, College of Intelligence and Computing, Tianjin University, China · School of Computer Science and Information Engineering, Hefei University of Technology, China
Thinking in Text and Images: Interleaved Vision--Language Reasoning Traces for Long-Horizon Robot Manipulation
May 1, 2026Jinkun Liu, Haohan Chi, Lingfeng Zhang +6Robotic Manipulation Long-Horizon Manipulation
Tsinghua University · Beijing Institute of Technology · Xiaomi Group
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Apr 30, 2026Yajvan Ravan, Adam Rashid, Alan Yu +8Robotic Manipulation Physics Simulation
MIT CSAIL · 2FortyFive Labs · 3Caltech +3
E $^2$ DT: Efficient and Effective Decision Transformer with Experience-Aware Sampling for Robotic Manipulation
Apr 30, 2026Kaiyan Zhao, Borong Zhang, Yiming Wang +4Scalable Robot Learning Robotic Manipulation
School of Computer Science, Wuhan University, Wuhan 430072, China · State Key Lab of Internet of Things for Smart City and Department of Computer Information Science, University of Macau, Macao 999078, China
LaST-R1: Reinforcing Robotic Manipulation via Adaptive Physical Latent Reasoning
Apr 30, 2026Hao Chen, Jiaming Liu, Zhonghao Yan +10Robotic Manipulation Efficient Latent Reasoning
1The Chinese University of Hong Kong · 2State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · 3Simplexity Robotics
STARRY: Spatial-Temporal Action-Centric World Modeling for Robotic Manipulation
Apr 29, 2026Yuxuan Tian, Yurun Jin, Bin Yu +5Robotic Manipulation World Models
Beijing Institute of Technology · Zhongguancun Academy · Zhongguancun Institute of Artificial Intelligence +4
Libra-VLA: Achieving Learning Equilibrium via Asynchronous Coarse-to-Fine Dual-System
Apr 27, 2026Yifei Wei, Linqing Zhong, Yi Liu +4Robotic Manipulation Action Space
1Beihang University · 2AgiBot
Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation
Apr 27, 2026Yifan Xie, YuAn Wang, Guangyu Chen +3Robotic Manipulation Articulated Objects
1Tsinghua University · 2ByteDance
$M^2$ -VLA: Boosting Vision-Language Models for Generalizable Manipulation via Layer Mixture and Meta-Skills
Apr 27, 2026Siyao Xiao, Yuhong Zhang, Zhifang Liu +9Diffusion-Based Vision-Language-Actions Recent Vision-Language Models
Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China. · PengCheng Laboratory, Shenzhen, China. · College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China. +1
Move-Then-Operate: Behavioral Phasing for Human-Like Robotic Manipulation
Apr 26, 2026Haoming Xu, Lei Lei, Jie Gu +3Robotic Manipulation Vision-Language-Action Framework
Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China. · Rightly Robotics, Hangzhou, China. · Shanghai Innovation Institute, Shanghai, China. +2
EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks
Apr 26, 2026Yihang Li, Xuelong Wei, Jingzhou Luo +26Egocentric Dataset Egocentric Video
Joy Future Academy, JD
GazeVLA: Learning Human Intention for Robotic Manipulation
Apr 24, 2026Chengyang Li, Kaiyi Xiong, Yuan Xu +3Robotic Manipulation Egocentric Dataset
Shanghai Jiao Tong University · Peking University · ShanghaiTech University +1
QDTraj: Exploration of Diverse Trajectory Primitives for Articulated Objects Robotic Manipulation
Apr 24, 2026Mathilde Kappel, Mahdi Khoramshahi, Louis Annabi +2Robot Trajectories Robotic Manipulation
Institute of Intelligent Systems and Robotics, CNRS, Sorbonne University, Paris, F-75005, France
CodeGraphVLP: Code-as-Planner Meets Semantic-Graph State for Non-Markovian Vision-Language-Action Models
Apr 24, 2026Khoa Vo, Sieu Tran, Taisei Hanyu +8Robot State Robotic Manipulation
University of Arkansas, Fayetteville, AR, USA. · Max Planck Research School for Intelligent Systems and the University of Stuttgart, Stuttgart, Germany. · Center of AI Research, VinUniversity, VietNam. +2
VistaBot: View-Robust Robot Manipulation via Spatiotemporal-Aware View Synthesis
Apr 23, 2026Songen Gu, Yuhang Zheng, Weize Li +6Robotic Manipulation Novel View Synthesis
1Fudan University · 2TARS Robotics · 4NUS +1
PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidance
Apr 22, 2026Yupeng Zheng, Xiang Li, Songen Gu +12Robotic Manipulation Multi-View
CASIA · TARS Robotics · Tsinghua University +3
Visual-Tactile Peg-in-Hole Assembly Learning from Peg-out-of-Hole Disassembly
Apr 22, 2026Yongqiang Zhao, Xuyang Zhang, Zhuo Chen +3Robotic Manipulation Tactile
Department of Engineering, King’s College London, Strand, London, WC2R 2LS, United Kingdom · Department of Informatics, King’s College London, Strand, London, WC2R 2LS, United Kingdom
Cortex 2.0: Grounding World Models in Real-World Industrial Deployment
Apr 22, 2026Adriana Aida, Walid Amer, Katarina Bankovic +25Robotic Manipulation Efficient World-Action Model
Sereact GmbH
JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy
Apr 22, 2026Tianle Zhang, Zhihao Yuan, Dafeng Chi +59Robotic Manipulation Cross-Embodiment Transfer
GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation
Apr 21, 2026Marcelino Julio Fernando, Miguel Altamirano Cabrera, Jeffrin Sam +3Robotic Manipulation Bimanual Manipulation
Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia
Wrench-Aware Admittance Control for Unknown-Payload Manipulation
Apr 21, 2026Hossein Gholampour, Logan E. BeaverTorque Robotic Manipulation
Department of Mechanical & Aerospace Engineering, Old Dominion University, Norfolk, VA 23529, USA
RoboWM-Bench: A Benchmark for Evaluating World Models in Robotic Manipulation
Apr 21, 2026Feng Jiang, Yang Chen, Kyle Xu +8Video World Models Robotic Manipulation
Peking University · Tsinghua University · Lightwheel
ST- $π$ : Structured SpatioTemporal VLA for Robotic Manipulation
Apr 20, 2026Chuanhao Ma, Hanyu Zhou, Shihan Peng +3Robotic Manipulation Temporal Grounding
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology · School of Computing, National University of Singapore · School of Computing, Macquarie University
OFlow: Injecting Object-Aware Temporal Flow Matching for Robust Robotic Manipulation
Apr 20, 2026Kuanning Wang, Ke Fan, Chenhao Qiu +5Flow-Matching Vision-Language-Action Robotic Manipulation
Fudan University Shanghai, China · University of Southern California Los Angeles, CA, USA · KAUST Saudi Arabia
Chain Of Interaction Benchmark (COIN): When Reasoning meets Embodied Interaction
Apr 18, 2026Xianhao Wang, Xiaojian Ma, Haozhe Hu +7Robotic Manipulation Embodied
University of Science and Technology of China · Beijing Institute for General Artificial Intelligence (BIGAI) · Xidian University +2
VADF: Vision-Adaptive Diffusion Policy Framework for Efficient Robotic Manipulation
Apr 17, 2026Xinglei Yu, Zhenyang Liu, Shufeng Nan +2Diffusion Policies Robotic Manipulation
Fudan University · Shanghai Innovation Institute
Continual Hand-Eye Calibration for Open-world Robotic Manipulation
Apr 17, 2026Fazeng Li, Gan Sun, Chenxi Liu +3Robotic Manipulation Prioritized Experience Replay
School of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, China · State Key Laboratory of Robotics, the Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China · University of Chinese Academy of Sciences, Beijing 100049, China

May 18, 2026, cs.ROJ/K move · Enter open · S save

ManiSoft: Towards Vision-Language Manipulation for Soft Continuum Robotics

Ziyu Wei, Luting Wang, Chen Gao, Li Wen+1

Beihang University · Hangzhou Innovation Institute, Beihang University · National University of Singapore

Soft Robotics Robotic Manipulation Obstacle Avoidance Vision-Language Foundation Models

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Most existing vision-language manipulation research targets rigid robotic arms, whose fixed morphology limits adaptability in cluttered or confined spaces. Soft robotic arms offer an appealing alternative due to their deformability, but confront challenges such as unreliable proprioception and distributed low-level actuation. To investigate these challenges, we introduce \ManiSoft, a benchmark for vision-language manipulation with soft arms. ManiSoft features a tailored simulator that couples realistic soft-body dynamics with contact-rich interactions via an elastic force constraint. On this basis, ManiSoft defines four tasks, each highlighting distinct aspects of deformable control, from basic end-effector coordination to obstacle avoidance. To support policy training and evaluation, \ManiSoft{} includes an automated pipeline that generates

6{,}300

diverse scenes and corresponding expert trajectories. To produce high-quality trajectories at scale, we first employ a high-level planner to decompose each task into a sequence of waypoints, followed by a low-level reinforcement learning policy that generates torque commands to track waypoints. Benchmarking three representative policy models shows relatively promising results in clean scenes but substantial performance drop under randomization. Visualization analysis indicates that failures stem primarily from inaccurate visual estimation of proprioceptive state and limited exploitation of deformability for adaptive obstacle avoiding. We anticipate ManiSoft to serve as a valuable testbed, bridging the gap between rigid and soft arms in the context of vision-language manipulation. Out codes and datasets are released at https://buaa-colalab.github.io/ManiSoft.

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