Whole-Body Robotic Manipulation

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16 papers in the last four weeks, with none the four weeks before. 0.2% of all new papers.

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  1. WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation

    Jul 7, 2026Wongyun Yu, Youngwoon Kim, Minsu ChoContact-Rich Robotic ManipulationHumanoid Robot Control

    Pohang University of Science and Technology (POSTECH) · RLWRLD

  2. WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations

    Jun 29, 2026Zhenyang Chen, Chuizheng Kong, Chuye Zhang +4Mobile ManipulationCross-Embodiment Robot Learning

    Georgia Institute of Technology, Atlanta, Georgia 30332

  3. HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation

    Jun 25, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robot Skill LearningRobotic Data Collection

    Beijing Academy of Artificial Intelligence

  4. CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation

    Jun 22, 2026Sikai Li, Shuning Li, Zhenyu Wei +3RL for RoboticsHumanoid Loco-Manipulation

    University of North Carolina at Chapel Hill · University of California, Berkeley

  5. OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation

    Jun 20, 2026Yingdong Hu, Haodong Zhu, Boyuan Zheng +6Humanoid Loco-ManipulationLong-Horizon Robotic Manipulation

    Tsinghua University · Shanghai Qi Zhi Institute · Spirit AI

  6. Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning

    Jun 20, 2026Yan Zhang, Yiming Li, Yifei Dong +2Contact-Rich Robotic ManipulationWhole-Body Robotic Manipulation

    Idiap Research Institute, Martigny, Switzerland · Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland · KTH Royal Institute of Technology, Stockholm, Sweden

  7. WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning

    Jun 11, 2026Jaehwi Jang, Zhaoyuan Gu, Alfred Cueva +15Contact-Rich Robotic ManipulationWhole-Body Robotic Manipulation

    The Institute for Robotics and Intelligent Machines, Georgia Institute of Technology

  8. X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting

    Jun 6, 2026Jen-Wei Wang, Sarthak Kaingade, Andrea Tagliabue +1Robot TeleoperationWhole-Body Robotic Manipulation

    Amazon · University of California, Berkeley

  9. HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers

    Jun 4, 2026Lizhi Yang, Junheng Li, Nehar Poddar +5Humanoid Loco-ManipulationRobot Skill Learning

    California Institute of Technology · The Institute for Human & Machine Cognition

  10. Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum

    May 20, 2026Zhizhao Liang, Yi-Lin Wei, Xuhang Chen +6Humanoid Loco-ManipulationLarge Language Model-Based Robot Planning

    School of Computer Science and Engineering, Sun Yat-sen University, China · Peng Cheng Laboratory, China · Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, China

  11. GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation

    Apr 21, 2026Marcelino Julio Fernando, Miguel Altamirano Cabrera, Jeffrin Sam +3Mobile ManipulationBimanual Robotic Manipulation

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia

  12. FastGrasp: Learning-based Whole-Body Control Method for Fast Dexterous Grasping with Mobile Manipulators

    Apr 14, 2026Heng Tao, Yiming Zhong, Zemin Yang +1RL for RoboticsRobotic Grasping

    ShanghaiTech University

  13. Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation

    Apr 9, 2026John Z. Zhang, Maks Sorokin, Jan Brüdigam +14Generalization in Robotic ManipulationWhole-Body Robotic Manipulation

    MIT · RAI Institute · Cornell University

  14. Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation

    Oct 9, 2025Zhenyu Zhao, Hongyi Jing, Xiawei Liu +7Robotic Data CollectionWhole-Body Robotic Manipulation

    University of Southern California · Toyota Research Institute