Contact-Rich Manipulation

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Period ending 2026-09-21

31 new papers

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Period ending 2026-09-14

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Period ending 2026-09-07

8 new papers

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  1. LaST-HD: Learning Latent Physical Reasoning from Scalable Human Data for Robot Manipulation

    Jun 22, 2026Jiaming Liu, Yinxi Wang, Chenyang Gu +15Human-To-Robot TransferHuman-Robot Collaboration

  2. DexTeleop-0: Force-Aware Bimanual Dexterous Teleoperation with Ego-Centric Perception towards Shared Autonomy

    Jun 22, 2026Haichao Liu, Yuyao Jiang, Hyunsun Park +2TeleoperationGround Reaction Forces

  3. IOI: Decoupling Kinematics and Physics for Interactive World Models

    Jun 22, 2026Chengyu Bai, Peidong Jia, Tiecheng Guo +11World ModelsKinematics

  4. Bridging Semantics and Kinematics: A Modular Framework for Zero-Shot Robotic Manipulation

    Jun 22, 2026Ali Alabbas, Dipshikha Das, Camillo Murgia +3Generalizable Robotic ManipulationsSpatial Reasoning

  5. Urban Deceleration Behavior Modes Under Scene Context: An Early-Kinematic Classifier from Argoverse 2 Multi-Agent Trajectories

    Jun 21, 2026Eni Solomon LaughterNaturalistic Driving DataUrban Environments

  6. Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots

    Jun 21, 2026Chengnan Shentu, Nicholas Baldassini, Tongjia Zheng +2Soft RobotsContact-Rich Manipulation

  7. Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators

    Jun 21, 2026S. Yaqubi, J. MattilaExtended Kalman FilterState Estimation

  8. Geometric Reconstruction of Extrinsic Contact Trajectories using Tactile Sensing and Proprioception for Tool Manipulation

    Jun 20, 2026Seojung Min, Yoonjin Kim, Jeong-Jung Kim +1ProprioceptionContact Forces

  9. DeformX: A Versatile Co-Simulation Framework for Deformable Linear Objects

    Jun 20, 2026Yi Yang, Xiang Fei, Lehong Wang +5Deformable ObjectsDeformable

  10. KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation

    Jun 20, 2026Qianxu Wang, Kuan FangCross-Embodiment TransferManipulation

  11. SurGE: Surrogate Gradient-guided Evolution for Co-design of Legged Robots with Parallel Elasticity

    Jun 20, 2026Yulun Zhuang, Yue Qin, Justin Lu +4Co-DesignLegged Robots

  12. THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion

    Jun 19, 2026Shivani Kamtikar, Pranav Asthana, Naveen Kumar Uppalapati +2Robotic ArmsDiffusion Planning

  13. Manipulider: A Multi-Engine Buoyancy-Controlled Robot for Thrusterless Underwater Gliding and Manipulation

    Jun 19, 2026Yitao Jiang, Yewei Huang, Weizhi Cao +5Underwater RobotsGripper

  14. Overcoming Imperfect Kinematics in Surgical Robotics Through Sim-to-Real Visuomotor Learning

    Jun 19, 2026Zhaoxuan Yan, Kaizhong Deng, Zhaoyang Jacopo Hu +2Robot-Assisted Minimally Invasive SurgeryVisual Servoing

  15. Remember what you did?: Learning Behavioral Memories for Partially Observable Object Manipulation

    Jun 19, 2026Kuancheng Wang, Seungho Yeom, Jinglin Cao +3Visuomotor PolicyManipulation

  16. Odoriko: A Shape-Aware Multimodal Diffusion Framework for Human Motion

    Jun 19, 2026Dongseok Shim, Julian Tanke, Kengo Uchida +5Human Motion GenerationHuman Motion

  17. Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground

    Jun 17, 2026Falak Mandali, Zijian He, Yan GuExtended Kalman FilterProprioception

  18. Simulating Robotic Locomotion in Sand: Resistive Force Theory in an Open-Source Physics Engine

    Jun 17, 2026Ryan Walker Brown, Laura K. Treers, Kathryn A. DaltorioGround Reaction Forces

  19. Modeling Branches for Active Manipulation using Iterative Parameter Estimation

    Jun 17, 2026Madhav Rijal, Rashik Shrestha, Trevor Smith +1Robotic ArmsAgricultural Robots

  20. Coupled Routing and Configuration Optimization for Multi-Viewpoint Robotic Inspection

    Jun 17, 2026Minh Nhat Vu, Khang Nguyen, Vu Trung Tran +1Robotic PerceptionTrajectory Optimization

  21. Seeing Through Occlusion: Deterministic Arm Kinematic Correction for Robot Teleoperation

    Jun 17, 2026Thomas M. Kwok, Nicholas Koenig, Yue HuInverse KinematicsTeleoperation

  22. ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots

    Jun 17, 2026Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol +1Impedance ControlLocomotion Stability

  23. URDF Synthesis from RGB-D Sequences via Differentiable Joint Inference and Energy-Consistent Verification

    Jun 17, 2026Xinze ZhangRigid-Body DynamicsKinematics

  24. Selective Unit-Cell Actuation in Lattice Structures for Distributed Morphology in Soft Robots

    Jun 17, 2026Trevor Exley, Altair Coutinho, Lucia BeccaiSoft RobotsLattice

  25. Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation

    Jun 16, 2026Magnus Dierking, Joao Carvalho, An Thai Le +2Robotic ArmsModel Predictive Control

  26. Damage Adaptation in Seconds for Architected Materials

    Jun 16, 2026James Avtges, Jake Ketchum, Helena Young +3Soft RobotsProprioception

  27. Transformer-Based Warm-Starting for Feasible and Optimal Terminal Approach to Tumbling Objects with Space Manipulators

    Jun 15, 2026Yuji Takubo, Maximilian Adang, Mac Schwager +1Trajectory OptimizationCold-Start

  28. ExoTraj: A General Lower-limb Exoskeleton Assistance Policy for Complex Environments

    Jun 15, 2026Xiao-Yin Liu, Guotao Li, Long Sun +2ExoskeletonTrajectory Prediction

  29. ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion

    Jun 15, 2026Bofan Lyu, Jindou Jia, Kuangji Zuo +7Perceptive Locomotion PoliciesGround Reaction Forces

  30. Distributed Safe Consensus Under Asymmetric Input and Time-Varying Output Constraints

    Jun 15, 2026Abhinav Sinha, Shashi Ranjan KumarSafety ConstraintsAdaptive Controller

  31. Friction Characterization of a Cable-Driven Differential Actuation System for Lower-Limb Exoskeletons

    Jun 14, 2026Alberto Maria Nobili, Fabio Salsedo, Alessandro FilippeschiActuatorExoskeleton

  32. Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm

    Jun 14, 2026Nestor N. Deniz, Sebastian Vega, Simon Parsons +1ActuatorFriction

  33. Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands

    Jun 14, 2026Soofiyan Atar, Yao-Ting Huang, Michael YipDexterous Robot HandsCross-Embodiment Transfer

  34. MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency

    Jun 13, 2026Jiahao Yang, Shenhao Yan, Fan Feng +5Inverse KinematicsEnd-Effector Pose

  35. DragMesh-2: Physically Plausible Dexterous Hand-Object Interaction with Articulated Objects

    Jun 13, 2026Tianshan Zhang, Yijia Duan, Yanjun Li +2Contact ForcesArticulated Objects

  36. Multimodal Physiological Assessment of Contact-Rich Physical Human-Robot Interaction Under Varying Environmental Conditions

    Jun 12, 2026Yanyi Chen, Xi Wang, Min DengHuman-Robot InteractionPhysiological Data

  37. Contact-Consistent Interaction Dynamics Normalization for Predictive Physical Human--Robot Interaction

    Jun 12, 2026Yongyan CaoTask-Centric Hybrid Whole-Body ControllerContact Forces

  38. Interaction Dynamics for Dexterous Manipulation

    Jun 12, 2026Yongyan CaoDexterous Robot HandsDexterous Manipulation

  39. Kine2Go: Kinematic dataset for the Unitree Go2 robot with diverse gaits and motions

    Jun 12, 2026Władysław Pałucki, Paweł Siwak, Krzysztof Ciebiera +1Pose-Guided Kinematic ReasoningKinematics

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

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

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

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

  42. The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation

    Jun 12, 2026Yao-Ting Huang, Jake Honma, Omar Hernandez +4FingerTeleoperation

  43. ContactWorld: What Representations Matter in Vision-Tactile World Models for Contact-Rich Manipulation

    Jun 11, 2026Zhiyuan Zhang, Pokuang Zhou, Kaidi Zhang +6Tactile World ModelContact-Rich Manipulation

  44. An integrated interpretable control effectiveness learning and nonlinear control allocation methodology for overactuated aircrafts

    Jun 11, 2026Umut Demir, Aamir Ahmad, Walter FichterLinear Quadratic RegulatorFlight Performance

  45. Interaction Dynamics MPC for Knee Rehabilitation Exoskeletons: A Series-Elastic Instantiation

    Jun 11, 2026Yongyan Cao, Jinshan TangExoskeletonImpedance Control

  46. 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

  47. EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows

    Jun 10, 2026Clinton Enwerem, John S. Baras, Calin BeltaGrasp GenerationInverse Kinematics

  48. 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

  49. Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing

    Jun 10, 2026Gabriel Arslan Waltersson, Yiannis KarayiannidisTactile SensorsSensors

  50. UniDexTok: A Unified Dexterous Hand Tokenizer from Real Data

    Jun 9, 2026Dong Fang, Youjun Wu, Yuanxin Zhong +4Dexterous Robot HandsHand

  51. Mobility Anomaly Generation using LLM-Driven Behavior with Kinematic Constraints

    Jun 9, 2026Yueyang Liu, Joon-Seok Kim, Andreas ZüfleMobilityRobot Trajectories

  52. Robotic Nonprehensile Object Transportation with a Hanging Tray

    Jun 8, 2026Adam Heins, Angela P. SchoelligRobotic Arms

  53. 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

  54. An Opticalmechanics Framework for Dynamic Estimation of Multibody Systems

    Jun 8, 2026Banglei Guan, Xuanyu Bai, Qingquan Chen +5Self-Synchronized Multi-View Joint Angle MonitoringRigid-Body Dynamics

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

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

  56. KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generation

    Jun 8, 2026Yuansen Huang, Jiayi Chen, Haoran Liu +6Grasp GenerationGrasps

  57. 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

  58. Propeller-Assisted Robust 3D Hopping Robot with Hierarchical Force Allocation

    Jun 6, 2026Chuhan Zhang, Hongbo Zhang, Yanlin Chen +4Ground Reaction ForcesRobot Systems

  59. Gravity-guided Contact Dynamics Estimation from 3D Human Motions

    Jun 6, 2026Cuong Le, Urs Waldmann, Bastian Wandt +1Ground Reaction ForcesHuman Motion

  60. Compliance-Based Sensor Placement for Force Sensing on a Sensorized Prostate Phantom

    Jun 5, 2026Sizhe Tian, Yinoussa Adagolodjo, Jeremie DequidtOptimal Sensor PlacementGround Reaction Forces