Contact-Rich Manipulation

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Period ending 2026-09-21

31 new papers

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Period ending 2026-09-14

7 new papers

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Period ending 2026-09-07

8 new papers

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  1. Route by Kinematics, Act by Observation: Kinematics-Supervised Expert Routing in MoE-Augmented VLA

    Jul 29, 2026Tianhang Yang, Yanze Zheng, Junjie Wang +3KinematicsRobot Systems

  2. ContactFlow: A video action conditioning that transfers across embodiments

    Jul 29, 2026Sami Azirar, Enrico Pallotta, Jan Nogga +3Real-World Manipulation TasksContact-Rich Manipulation

  3. Global Exponential Stabilization of the Kinematic Bicycle Model of a Car in Polar Coordinates

    Jul 29, 2026Velimir Todorovski, Kwang Hak Kim, Alessandro Astolfi +1Vehicle DynamicsFeedback Linearization

  4. Time-delay Control Using a New Nonlinear Adaptive Law for Cable-Driven Robots

    Jul 29, 2026Wenbo Gao, Yaoyao Wang, Jiawang Chen +2Adaptive ControllerRobotic Arms

  5. Physics-Aware End-to-End Deep Reinforcement Learning for Quadcopter Control with Actuator Dynamics

    Jul 28, 2026Ya-Chia Shen, Woei-Leong ChanQuadrotor ControlIterative Reinforcement Learning

  6. Schrödinger's Cat: Probabilistic Representation and Prediction of Potential Scene Kinematics

    Jul 28, 2026Timy Phan, Jannik Wiese, Björn OmmerHuman Motion PredictionKinematics

  7. Tripody: An Overconstrained 3-SPR-like Parallel Robot for High-Reach Construction Tasks

    Jul 28, 2026Julien Kindle, Jakub Raczy, Riccardo Balbi +3Robotic ArmsRobot Systems

  8. Reactive 3D Motion Planning for a Franka Arm via Star-World Workspace Reshaping

    Jul 27, 2026Gia Dcosta, Saayuj Deshpande, Samhitha VedireMotion PlannersObstacle Avoidance

  9. Amortising Trajectory Optimisation for Residual MPC via Implicit Contact Differentiation

    Jul 27, 2026Daniel Layeghi, Thomas Corbères, Calum Arnott +4Trajectory OptimizationContact Forces

  10. KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation

    Jul 27, 2026Yaping Li, Zhaxizhuoma, Qiaojun Yu +3Pose-Guided Kinematic ReasoningArticulated Objects

  11. FeelWorld: Visuo-Tactile World Model for Hierarchical Contact Prediction and Planning

    Jul 27, 2026Wenxuan Ma, Chaofan Zhang, Chao Xue +4Tactile World ModelContact-Rich Manipulation

  12. EEGForceFusion: Joint Tokenised-Continuous Representation Learning for Subject-Independent Grasp Force Decoding

    Jul 27, 2026Sankalp Sunil Turankar, Yogesh Kumar MeenaBrain-Computer InterfaceElectrocorticography

  13. Towards simultaneous decoding of kinetic and kinematic movement parameters during grasp and lift task by noninvasive brain imaging

    Jul 27, 2026Parth G. Dangi, Yogesh Kumar MeenaBrain-Computer InterfaceStroke

  14. N0N_0-TWAM: Scaling Tactile-Native World-Action Model for Contact-Rich Manipulation

    Jul 26, 2026NeoteAI Team, Fudan TEAI TeamTactile World ModelContact-Rich Manipulation

  15. Steeringless Drifting: Differential-Torque Control of a Four-Wheel Independently Driven Vehicle

    Jul 26, 2026Sheng Zhao, Zexin Wu, Dongyang Zhou +2Vehicle DynamicsActuator

  16. GRAPE: Graduated Routing for Articulated Portrait mesh Estimation

    Jul 26, 2026Yunfei Liu, Lijian Lin, Ye Zhu +1Human Mesh RecoveryPortraits

  17. Markerless Motion Capture in Routine Clinical Upper Limb Assessments: Validity and Insights Beyond Ordinal Scoring

    Jul 26, 2026Tim Unger, Olivier Lambercy, Roger Gassert +3RehabilitationMotion Capture

  18. Actuator-Aware Spatiotemporal Tube Synthesis for Temporal Reach-Avoid-Stay Tasks

    Jul 25, 2026Keshab Patra, K Madhava KrishnaActuatorObstacle Avoidance

  19. Pose-Aware Modeling to Mitigate Pose-Related Artifacts in Tactile Gloves

    Jul 25, 2026Tianhong Catherine Yu, Ziyi Kou, Mia Huang +4Tactile SensorsFinger

  20. Plug, Play, and Comply: A Modular Framework for Online Variable Impedance with Arbitrarily Oriented Compliance Axes

    Jul 24, 2026Mihael Simonič, Xiaocong LiImpedance ControlRobotic Arms

  21. Design and Human Evaluation of Tactile Withdrawal Reflexes for a Skin-Covered Robot Arm

    Jul 24, 2026Laura Babayeva, Lukas Rustler, Matej HoffmannRobotic ArmsRobot Systems

  22. Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics

    Jul 24, 2026Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5Impedance ControlActuator

  23. Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces

    Jul 24, 2026Yorai Shaoul, Jiaoyang Li, Maxim LikhachevRobotic Manipulation PoliciesRobotic Arms

  24. FORGE-plus: Force-Budgeted Recovery for Contact-Rich Assembly with a Frozen LLM Supervisor

    Jul 23, 2026Kyupaeck Jeff Rah, Midum OhGoal-Conditioned Reinforcement LearningContact-Rich Manipulation

  25. URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation

    Jul 23, 2026Jiyou Shin, Youngjin Seo, Jaeseog Won +5Impedance ControlContact Forces

  26. KineBench: Benchmarking Embodied World Models via IDM-Free Kinematic Grounding

    Jul 22, 2026Zeyu Liu, Zhangzhe Zhu, Yang Zhang +3Pose-Guided Kinematic ReasoningVideo World Models

  27. Contact-Persistent Full Actuation for Aerial Physical Interaction

    Jul 22, 2026Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan KumarActuatorFeedback Linearization

  28. A Splitting Architecture for Exact Reduced Coulomb Friction

    Jul 21, 2026Hongcheng Song, Ye Fan, Uri M. Ascher +1FrictionContact Forces

  29. Deep learning-based prediction of time-resolved adhesive forces in viscoelastic Hertzian contacts

    Jul 21, 2026Ali Maghami, Merten Stender, Michele Ciavarella +16-Dof Viscoelastic MechanismContact Forces

  30. The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks

    Jul 21, 2026Luc Baron, Damien ChablatInverse KinematicsEnd-Effector Pose

  31. Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom

    Jul 21, 2026Mehdi Heydari Shahna, Tuomo Kivelä, Jouni MattilaMotion PlannersControl Barrier Functions

  32. DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control

    Jul 20, 2026Ryan Gomes Paiva, Conrad Ho, Jiarong Kang +3Aerial RobotsLocomotion Stability

  33. FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation

    Jul 20, 2026Ruicheng Li, Qixiu Li, Ruichun Ma +8Vision-Language-Action ModelsContact-Rich Manipulation

  34. Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion

    Jul 20, 2026Jordan Dowdy, Jean Chagas VazLegged RobotsIterative Reinforcement Learning

  35. Leveraging Two Robotic Arms for Tight Assembly Performance Gains

    Jul 20, 2026Dror Livnat, Yuval Lavi, Michael M. Bilevich +1Robotic ArmsArms

  36. Task-Space Constrained Stochastic Trajectory Optimization for Time-Optimal Forestry Crane Motion Planning

    Jul 20, 2026Marc-Philip Ecker, Christoph Fröhlich, Bernhard Bischof +2Trajectory OptimizationRobotic Arms

  37. HCPG-Flow:Hierarchical Contact-Progress Guidance for Flow-Policy Robot Manipulation

    Jul 20, 2026Guanghu Xie, Mingxu Li, Shuo Zhang +5Contact-Rich ManipulationFlow-Based Policy

  38. BoxTwin: Learning Elastoplastic Articulated Object Dynamics from Videos

    Jul 19, 2026Heng Zhang, Gehan Zheng, Kaifeng Zhang +6Deformable ObjectsDigital Twins

  39. SHAPE: Simultaneous Water Hydraulic Actuation and Position Estimation of a Sensorless Remote Actuator through a Thin and Long Flexible Tube

    Jul 19, 2026Yuki Nakamura, Shuto Yoshimura, Tomoyuki Noda +1Soft Pneumatic ActuatorsActuator

  40. BayesContact: Uncertain Pose Estimation via Visuo-Tactile Proposals and Simulation-based Inference

    Jul 17, 2026Aditya Kamireddypalli, Matias Mattamala, Joao Moura +3Category-Level Object Pose EstimationContact Forces

  41. Data and Learning Where it Matters for Contact-Rich Manipulation

    Jul 17, 2026Oliver Hausdörfer, Linus Schwarz, Gabor Marko +7Data CollectionRobotic Manipulation Policies

  42. Learning Reach-Avoid Task with Reinforcement Learning: Vectorized Simulation and Benchmark

    Jul 17, 2026Jonas Weihing, Shahram EivaziObstacle AvoidanceDeep Reinforcement Learning

  43. A Task-Space Receding Horizon Controller for Fast Collision Avoidance

    Jul 17, 2026Mattia Penzotti, Marco ControzziCollision AvoidanceObstacle Avoidance

  44. A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator

    Jul 17, 2026Francesco Stella, Annan Zhang, Cosimo Della Santina +2Soft RobotsProprioception

  45. KineFuse: Kinematic-Aware Haptic Fusion for In-Hand Occluded-Object Pose Tracking

    Jul 16, 2026Chanyoung Ahn, Jaesung Lee, Sungwoo Park +13D HandHand

  46. An LLM-Based Automatic Sportscast Solution for Robot Soccer Matches

    Jul 16, 2026Francesco Petri, Michele Brienza, Daniele Nardi +3Robot SystemsNeuro-Symbolic Framework

  47. Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers

    Jul 16, 2026King Hang Wong, Lingqiao Liu, Feras DayoubActuatorTeleoperation

  48. Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness

    Jul 15, 2026Annika Kirner, Grazia Zambella, Igor Kovacevic +3Adaptive ControllerRobotic Arms

  49. The Nonsmooth Impact Direction (NSID) of Robotic Systems

    Jul 15, 2026Annika Kirner, Christian OttContact ForcesRobotic Arms

  50. VAMP-MR: Vector-Accelerated Motion Planning and Execution for Multi-Robot-Arms

    Jul 15, 2026Philip Huang, Chenrui Gao, Jiaoyang LiMulti-Robot Motion PlanningRobotic Arms

  51. Design and Characterization of a Limb Encircling Actuator

    Jul 14, 2026Japmanjeet Singh Gill, Gray Cortright Thomas, Nikko Van Crey +2ExoskeletonSoft Pneumatic Actuators

  52. Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains

    Jul 14, 2026Rwik Rana, Jesse Quattrociocchi, Christian Ellis +3Vehicle DynamicsModel Predictive Control

  53. Real-time Generation of Listener Nodding via Prediction of Kinematic Parameters for Avatar Dialogue Systems

    Jul 14, 2026Kazushi Kato, Koji Inoue, Taiga Mori +2High-Fidelity AvatarNonverbal Cues

  54. More than a Manipulator: Planning Propellant-Free Attitude Maneuvers for Free-Floating Spacecraft

    Jul 13, 2026Harsh G. Bhundiya, Avi Soval, Keenan AlbeeRobotic ArmsXr Vision Accelerators

  55. NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception

    Jul 13, 2026Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang +9ActuatorGround Reaction Forces

  56. Trajectory Planning and Certification for 3-DOF Robot Manipulators Using Real Quantifier Elimination Based on Comprehensive Gröbner Systems

    Jul 13, 2026Yu Nakai, Akira Terui, Masahiko MikawaRobotic ArmsChern Numbers

  57. Learning Residual Kinematic Corrections for Continuous Neural Decoding via Reinforcement Learning

    Jul 13, 2026Jiamian Li, Niall McShane, Attila Korik +6Motor ImageryBrain-Computer Interface

  58. CR-Solver: GPU-Accelerated Kinematics Solver for Tendon-driven Continuum Robots

    Jul 13, 2026Heqing Yang, Yang Yi, Linqing Zhong +2Soft RobotsInverse Kinematics

  59. GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation

    Jul 13, 2026Yeonseo Lee, Taeyeop Lee, Hyosup Shin +2Grasp GenerationGrasps

  60. EquiFusion: Kinematics-Agnostic Human Motion Prediction via Equivariant Latent Diffusion

    Jul 13, 2026Cecilia Curreli, Florian Hofherr, Dominik Muhle +3Human Motion Prediction3D Pose Estimator