ICRA 2026

ICRA 2026

IEEE International Conference on Robotics and Automation — Vienna, Austria, June 1–5, 2026.

5,088 submissions (a record). The technical program lists ~2,820 archival papers plus 131 late-breaking results (counted from the official PaperCept program, May 31 2026 snapshot). Official acceptance rate not yet published; ICRA 2025 was 38.7% (1,606/4,153). Manipulation + learning is the largest theme — Reinforcement Learning (254), Imitation Learning (197), Deep Learning in Grasping & Manipulation (146), Learning from Demonstration (133), Dexterous Manipulation (75), Grasping (67); ≥ 46 papers have "VLA" in the title.

Surveys hosted in this wiki

• VLA & Manipulation Survey — themed reading list across 11 clusters, ICRA-vs-ML-venue trend analysis, cross-venue lineage map. ICRA 2026's VLA work is distinctly deployment- and sensor-centric (force/tactile, efficiency, streaming, RL fine-tuning, practicality benchmarks).

Topic analyses (full 728-paper corpus)

Every manipulation/VLA paper in the program, grouped by technical topic with detailed sub-trend analysis + a complete paper table:

• VLA models (45) · Tactile & Force (92) · Dexterous & In-Hand (75) · Bimanual & Dual-Arm (50) · Mobile Manipulation (34) · Assembly & Contact-Rich (58)
• Grasp Synthesis (41) · Perception for Manipulation (82) · Planning & TAMP (50) · Diffusion & Flow Policies (46) · Imitation Learning & LfD (116) · RL · Data · Sim · Representation (39)

Per-paper pages

Sensor-grounded VLA (force / tactile / multi-sensor)

• FD-VLA — force awareness without a force sensor (distilled force token; arXiv 2602.02142)

Reasoning & verification

• VLA-Reasoner — online MCTS + world model; OpenVLA 22%→41% real (arXiv 2509.22643)

Efficiency / deployment

• LightVLA — differentiable token pruning — −59% FLOPs / +2.9% success on OpenVLA-OFT (arXiv 2509.12594)

RL & preference fine-tuning

• Flow Policy Optimization (FPO) — likelihood-free RL fine-tuning of flow-matching VLAs (arXiv 2510.09976)

Data / pretraining + dual-system

• Galaxea + G0 — 500 h open-world dataset + dual-system VLA (arXiv 2509.00576)

Dexterous / bimanual

• Dexora — open-source 36-DoF dual-arm/dual-hand VLA; 66.7% vs GR00T N1 51.7% (arXiv 2605.18722)

Memory & retrieval

• MAP-VLA — memory-augmented prompting over frozen π0; +7% sim / +25% real (arXiv 2511.09516)

Goal / world-model conditioning

• Goal-VLA — image-generative VLMs as object-centric world models; 59.9% RLBench zero-shot (arXiv 2506.23919)

Navigation VLA

• OmniVLA (navigation) — omni-modal goal conditioning; the ~8.26B cloud model behind AsyncVLA (arXiv 2509.19480)

Benchmarks / practicality

• Rethinking VLA Practicality — CEBench + 0.5B LLaVA-VLA baseline (arXiv 2602.22663)

Insights & key findings

1. Manipulation/VLA is the dominant theme — 728 papers (~26% of the ~2,820 archival program). Our primary-keyword partition: Imitation Learning & LfD 116 · Tactile/Force 92 · Perception 82 · Dexterous 75 · Assembly/Contact-rich 58 · Planning/TAMP 50 · Bimanual 50 · Diffusion/Flow policies 46 · VLA 45 · Grasp synthesis 41 · RL/Data/Sim 39 · Mobile 34. (Raw multi-label keyword tallies are larger — RL 254, IL 197, DL-in-Grasping 146 — because each paper carries several keywords; the partition assigns each paper once, manipulation-type before learning-paradigm.)

2. ICRA's VLA work is deployment- and sensor-centric — the distinguishing axis vs ICLR (architecture) and CVPR (perception/reasoning): force/tactile grounding (often sensor-free via distillation — FD-VLA), inference efficiency (LightVLA), RL fine-tuning of flow policies (FPO), practicality benchmarks (CEBench), memory (MAP-VLA), dual-system data engines (Galaxea+G0), and a distinct navigation-VLA cluster (OmniVLA, UrbanVLA, TrackVLA++).

3. Dexterity was NOT absorbed by the VLA wave. Across the 75 dexterous + 92 tactile papers, RL-in-sim + sim-to-real transfer + bespoke hand hardware remain the load-bearing techniques; VLAs piggyback on RL rather than replace it. Tactile sensing is the venue signature (vision-based tactile hardware wave + force-without-a-sensor distillation), and bimanual/dual-arm is the fastest-growing manipulation-type sub-field.

4. Method trends. Diffusion & flow-matching is the default continuous-action recipe (faster/one-step, equivariant, and 3D/point-cloud variants); RL is now a post-training lever (failure-aware RL, sim-to-real grounding, real-to-sim Gaussian-splat data engines like Re³Sim/AnchorDream); grasp foundation models + cross-embodiment grasp generation are converging; and perception (6-DoF pose, 3D/affordance) remains the manipulation bottleneck (82 papers).

5. Preprint availability is a venue signature. Only 479 / 728 (66%) of these papers have an author-cross-checked arXiv preprint; the remaining ~34% are IEEE-Xplore-only — ICRA's systems/hardware culture is less preprint-driven than the ML venues. (A blank arXiv cell below means "no preprint found," not "not analyzed.")

6. Robustness reality check. The companion WAM vs VLA Robustness study frames the caveat for the whole video-world-model cohort here: video priors buy visual-perturbation robustness but not camera/robot-state geometry, and task-data diversity — not the world-model prior — remains the dominant lever.

Full paper list — all manipulation/VLA papers (grouped by topic)

Auto-aggregated from the 12 topic-analysis pages (the canonical detailed write-ups). Each topic page has the sub-trend analysis + standout deep-dives; this is the flat enumeration. arXiv links are author-cross-checked against the ICRA program; a blank arXiv cell means no preprint was found (many ICRA papers are IEEE-Xplore-only).

Vision-Language-Action models (45) — see Vision-Language-Action models

Code	Title	arXiv
ThI1I.100	Learning End-To-End Dexterous Arm-Hand VLA Policies with Shared Autonomy: DexGrasp AI Copilot for Efficient Teleoperation	2511.00139
ThI1I.271	Learning Affordances at Inference-Time for Vision-Language-Action Models	2510.19752
ThI1I.301	Open-World Object Manipulation with Vision-Language-Action Models Via Synthetic Multi-Modal Data
ThI2I.128	Do What You Say: Steering Vision-Language-Action Models Via Runtime Reasoning-Action Alignment Verification	2510.16281
ThI2I.154	FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulation	2602.02142
ThI2I.164	Offline Reinforced Finetuning for Chunk-Based VLA Via Real-World RL Policy Distillation with Vision-Guided Copilot
ThI2I.249	CRAFT: Adapting VLA Models to Contact-Rich Manipulation Via Force-Aware Curriculum Fine-Tuning	2602.12532
ThI2I.69	The Better You Learn, the Smarter You Prune: Towards Efficient Vision-Language-Action Models Via Differentiable Token Pruning (LightVLA)	2509.12594
ThI2I.82	Galaxy Open-World Dataset and G0 Dual-System VLA Model	2509.00576
ThI2LB.11	Robust Unknown Object Detection and Tracking for Vision-Language-Action Models on Edge Devices
TuAT3.2	DAM-VLA: A Dynamic Action Model-Based Vision-Language-Action Framework for Robot Manipulation	2603.00926
TuI1I.167	Developing Vision-Language-Action Model from Egocentric Videos	2509.21986
TuI1I.179	RealMirror: A Comprehensive, Open-Source Vision-Language-Action Platform for Embodied AI	2509.14687
TuI1I.185	Seeing Space and Motion: Enhancing Latent Actions with Geometric and Dynamic Awareness for Vision-Language-Action Models	2509.26251
TuI1I.332	RetoVLA: Reusing Register Tokens for Spatial Reasoning in Vision-Language-Action Models	2509.21243
TuI1I.84	EveryDayVLA: A Vision-Language-Action Model for Affordable Robotic Manipulation	2511.05397
TuI1LB.21	Toward Human Preference Optimization for Vision-Language-Action Models: A Pilot Study on the Limits of Imitation Learning
TuI1LB.22	Enhancing VLA Precision in Robotic Manipulation Via FiLM-Based Force/Torque-Vision Integration
TuI2I.104	DepthVLA: Enhancing Vision-Language-Action Models with Depth-Aware Spatial Reasoning	2510.13375
TuI2I.128	VLA-Reasoner: Empowering Vision-Language-Action Models with Reasoning Via Online Monte Carlo Tree Search	2509.22643
TuI2I.277	A Vision-Language-Action Model for Adaptive Ultrasound-Guided Needle Insertion and Needle Tracking
TuI2I.287	NeuroVLA: Surgical Scenario-Aware Learning of Debulking Skills in Endoscopic Robotic Neurosurgery Via Vision-Language-Action Model
TuI2I.295	Scalable Vision-Language-Action Model Pretraining for Robotic Dexterous Manipulation with Real-Life Human Activity Videos	2510.21571
TuI2I.319	TrackVLA++: Unleashing Reasoning and Memory Capabilities in VLA Models for Embodied Visual Tracking	2510.07134
WeAT1.1	Dexora: Open-Source VLA for High-DoF Bimanual Dexterity	2605.18722
WeI1I.142	Rethinking the Practicality of Vision-Language-Action Model: A Comprehensive Benchmark and an Improved Baseline	2602.22663
WeI1I.145	SVP: Improving Vision-Language-Action Models with Dual Stochastic Visual Prompting
WeI1I.148	Exploiting Vulnerabilities: Universal Adversarial Attacks on Vision-Language-Action Models in Robotics
WeI1I.160	Reinforcement Fine-Tuning of Flow-Matching Policies for Vision-Language-Action Models (FPO)	2510.09976
WeI1I.238	Audio-VLA: Adding Contact Audio Perception to Vision-Language-Action Model for Robotic Manipulation	2511.09958
WeI1I.248	ACG: Action Coherence Guidance for Flow-Based Vision-Language-Action Models	2510.22201
WeI1I.287	INSIGHT: INference-Time Sequence Introspection for Generating Help Triggers in Vision-Language-Action Models	2510.01389
WeI1I.296	Goal-VLA: Image-Generative VLMs As Object-Centric World Models Empowering Zero-Shot Robot Manipulation	2506.23919
WeI1I.311	TMR-VLA: Vision-Language-Action Model for Magnetic Motion Control of Tri-Leg Silicone-Based Soft Robot	2603.00420
WeI1I.87	Toward Embodiment Equivariant Vision-Language-Action Policy	2509.14630
WeI1LB.7	Hierarchical LLM-VLA-Controller Integration for Task Generalization
WeI2I.109	CollabVLA: Self-Reflective Vision-Language-Action Model Dreaming Together with Human	2509.14889
WeI2I.145	AugVLA-3D: Depth-Driven Feature Augmentation for Vision-Language-Action Models	2602.10698
WeI2I.162	MAP-VLA: Memory-Augmented Prompting for Vision-Language-Action Model in Robotic Manipulation	2511.09516
WeI2I.241	ExpReS-VLA: Specializing Vision-Language-Action Models through Experience Replay and Retrieval	2511.06202
WeI2I.283	OmniVLA: Physically-Grounded Multimodal VLA with Unified Multi-Sensor Perception for Robotic Manipulation	2511.01210
WeI2I.301	Stream-To-Act: ROS 2 Native Token Streaming for Continuous Motion Execution of Vision-Language-Action Models
WeI2I.324	UrbanVLA: A Vision-Language-Action Model for Urban Micromobility	2510.23576
WeI2I.71	OmniVLA: An Omni-Modal Vision-Language-Action Model for Robot Navigation	2509.19480
WeI2I.72	InSpire: Vision-Language-Action Models with Intrinsic Spatial Reasoning	2505.13888

Tactile & force-based manipulation (92) — see Tactile & force-based manipulation

Code	Title	arXiv
ThAT3.7	TacTape: Real-Time High-Accuracy Tactile Fiducial System with Structured 3D Texture for Vision-Based Tactile Sensors
ThBT3.5	3D Printable Soft Liquid Metal Sensors for Delicate Manipulation Tasks	2509.17389
ThI1I.150	SlipSense: Multimodal Sensing for Online Slip Detection in Legged Robots
ThI1I.158	ViTac-Tracing: Visual-Tactile Imitation Learning of Deformable Object Tracing	2603.18784
ThI1I.163	RICE: Reactive Interaction Controller for Cluttered Canopy Environment	2506.10383
ThI1I.164	Balancing Marker and Markerless Modes in Vision-Based Tactile Sensors with a Translucent Skin	2512.06829
ThI1I.176	DOT-Sim: Differentiable Optical Tactile Simulation with Precise Real-To-Sim Physical Calibration	2604.27367
ThI1I.223	MINT: A Vision-Based Soft Sensor for Mutual Integration of Normal Interaction Force and Texture Perception
ThI1I.236	Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation	2409.14896
ThI1I.256	TacTip-Based Dynamic Contact Force Estimation with Sequential Tactile Images and Its Applications to Robotic Force Tracking
ThI1I.287	SuckTac: Camera-Based Tactile Sucker for Unstructured Surface Perception and Interaction	2511.02294
ThI1I.311	Wearable, Fabric-Embedded Acoustic Waveguides for Meter-Scale Contact Localization and Force Sensing
ThI1I.317	Tactile Recognition of Both Shapes and Materials with Automatic Feature Optimization-Enabled Meta Learning	2603.08423
ThI1I.348	InvariantCloud: A Globally Invariant, Uniquely Indexed Point Cloud Framework for Robust 6-DoF Tactile Pose Tracking
ThI1I.373	Tactile-Driven Dexterous In-Hand Writing Via Extrinsic Contact Sensing
ThI1I.41	Grasp, Slide, Roll: Comparative Analysis of Contact Modes for Tactile-Based Shape Reconstruction	2602.23206
ThI1I.68	Acoustic Sensing for Universal Jamming Grippers	2603.00351
ThI1LB.17	Intelligent Mechanical Characterization of Date Fruits for Automated Harvesting Grippers
ThI2I.133	MultiDiffSense: Diffusion-Based Multi-Modal Visuo-Tactile Image Generation Conditioned on Object Shape and Contact Pose	2602.19348
ThI2I.192	Tactile Hide and Seek: Bimanual Object Blind Search and Retrieval Via Tactile-Only Feedback
ThI2I.196	How to Train Your Tactile Model: Tactile Perception with Multi-Fingered Robot Hands	2604.00744
ThI2I.257	ManipForce: Force-Guided Policy Learning with Frequency-Aware Representation for Contact-Rich Manipulation	2509.19047
ThI2I.276	Learning Dexterous Manipulation Skills from Imperfect Simulations (DexScrew)	2512.02011
ThI2I.308	Automatic Physically-Based Sim2Real for Tactile Images through Differentiable Path-Tracing Rendering
ThI2I.314	ConTact: Contrastive Tactile Alignment for Sim-To-Real Robotic Manipulation
ThI2I.345	Modular Actuator for Multimodal Proprioceptive and Kinesthetic Feedback of Robotic Hands
ThI2I.371	Tacser and Action-Conditioned Latent Filter for Generalizable Robotic Surface Perception
ThI2I.397	PoCoDP3: Pose and Contact-Aware Visual-Tactile Policy for Contact-Rich 3D Manipulation
ThI2I.416	Shear-Based Grasp Control for Multi-Fingered Underactuated Tactile Robotic Hands	2503.17501
ThI2I.81	Symmetry-Aware Fusion of Vision and Tactile Sensing Via Bilateral Force Priors for Robotic Manipulation	2602.13689
ThI2LB.16	High-Stiffness Capacitive Torque Sensor Based on a Hybrid Scott-Russell and Parallelogram Mechanism
ThI2LB.7	Time-Division Multimodal Tactile Perception for Physical AI and Robotic Hands
TuAT4.1	Contact Detection and Manipulation with a Shape-Memory Alloy Based Soft Gripper
TuBT1.5	ETac: A Lightweight and Efficient Tactile Simulation Framework for Learning Dexterous Manipulation	2604.20295
TuI1I.160	NLiPsCalib: An Efficient Calibration Framework for High-Fidelity 3D Reconstruction of Curved Visuotactile Sensors	2603.09319
TuI1I.181	MFCC Inspired Spectral Feature Extraction for Robust Touch Interaction in Social Robots
TuI1I.203	Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring	2604.06133
TuI1I.219	Touch2Insert: Zero-Shot Peg Insertion by Touching Intersections of Peg and Hole	2603.03627
TuI1I.221	Multifingered Force-Aware Control for Humanoid Robots	2603.08142
TuI1I.229	Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation	2510.13324
TuI1I.262	SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation	2510.27048
TuI1I.348	ViTacGen: Robotic Pushing with Vision-To-Touch Generation	2510.14117
TuI1I.434	Haptics of Pulse Palpation: Simulation and Validation through Novel Sensor-Actuator System (I)
TuI1I.51	Multi-Modal Manipulation Via Multi-Modal Policy Consensus	2509.23468
TuI1I.54	MoiréTac: A Dual-Mode Visuotactile Sensor for Multidimensional Perception Using Moiré Pattern Amplification	2509.12714
TuI1I.85	Estimating Force Interactions of Deformable Linear Objects from Their Shapes	2602.01085
TuI1LB.19	Low-Dimensional Tactile Glove for Visuo-Tactile Robot Hand Control: A Preliminary Study
TuI2I.122	A Tri-Axial FBG-Based Force Sensor at the Tool Tip of a Continuum Manipulator for Single-Port Access Surgery
TuI2I.146	UNIC: Learning Unified Multimodal Extrinsic Contact Estimation	2601.04356
TuI2I.163	Magnet-Based Soft Robotic Skin Using a 3D-Printed Multi-Lattice Structure and CNN-Based Tactile Super-Resolution
TuI2I.177	FreeTacMan: Robot-Free Visuo-Tactile Data Collection System for Contact-Rich Manipulation	2506.01941
TuI2I.216	SARL: Spatially-Aware Self-Supervised Representation Learning for Visuo-Tactile Perception	2512.01908
TuI2I.224	ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation	2511.19955
TuI2I.327	CableSense: MuJoCo Simulation-Guided Neural Networks for Force Estimation in Cable-Driven Manipulators
TuI2I.378	Grasp Independent Indirect Tool Force Estimation Using Vision-Based Tactile Sensors
TuI2I.381	ActiveSPN: Active Soft Polyhedral Networks with Pose Estimation for In-Finger Object Manipulation
TuI2I.392	Multi-Modal Sensing in Colonoscopy: A Data-Driven Approach
TuI2I.420	FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation	2506.18960
TuI2I.425	Simultaneous Extrinsic Contact and In-Hand Pose Estimation Via Distributed Tactile Sensing	2512.23856
TuI2I.437	Tactile Object Recognition with Recurrent Neural Networks through a Perceptive Soft Gripper
TuI2I.47	Constructing Contact Estimation Models for Barometric Tactile Sensors
WeI1I.105	EIT–Pneumatic Hybrid Robotic Skin for Practical and Accurate Force Map Reconstruction	2605.28468
WeI1I.113	Active Tactile Exploration for Rigid Body Pose and Shape Estimation	2510.13595
WeI1I.144	TaSA: Two-Phased Deep Predictive Learning of Tactile Sensory Attenuation for Improving In-Grasp Manipulation	2602.05468
WeI1I.169	TranTac: Leveraging Transient Tactile Signals for Contact-Rich Robotic Manipulation	2509.16550
WeI1I.184	Touch with Insight: Physics-Aware Data-Driven Learning for EIT-Based Tactile Sensing
WeI1I.197	Bootstrapping Self-Supervised Learning of Binary Classification Using Error Bounds: A Case Study on a Robotic Insertion Task
WeI1I.198	TactEx: An Explainable Multimodal Robotic Interaction Framework for Human-Like Touch and Hardness Estimation	2602.18967
WeI1I.209	Multimodal Diffusion Forcing for Forceful Manipulation	2511.04812
WeI1I.226	Low Cost, Easily Manufactured, Highly Flexible Strain and Touch Sensitive Fiber for Robotics Applications
WeI1I.255	INTACT-GRIP: An Inflatable Tactile Gripper for Soft Manipulation and High-Resolution Texture Mapping
WeI1I.317	Tactile Execution Monitoring of Robotic Manipulation Via Time-Series Based Predictive Encoding
WeI1I.326	TransTac: Visuo-Tactile Modality Transition Via Ultraviolet-Encoded Transparent Elastomers
WeI1I.35	UVDtact: UV Marker-Embedded Fingertip-Like Vision-Based Tactile Sensor for Shape Reconstruction and Force Estimation
WeI1I.4	Tactile Elastography
WeI1I.420	TacFlex: Multi-Mode Tactile Imprints Simulation for Visuotactile Sensors with Coating Patterns
WeI1I.437	DexFruit: Dexterous Manipulation and Gaussian Splatting Inspection of Fruit	2508.07118
WeI1I.53	Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration	2509.08354
WeI1LB.14	Local Linearized Cosserat Rod Model for Contact Force Estimation in Flexible Medical Instruments and Continuum Robots
WeI2I.107	A Closed-Loop CPR Training Glove with Integrated Tactile Sensing and Haptic Feedback	2603.05793
WeI2I.125	Learning Controlled Separation of Small Objects between Two Fingers with a Tactile Skin
WeI2I.142	Omnidirectional Dual-Arm Aerial Manipulator with Proprioceptive Contact Localization for Landing on Slanted Roofs	2602.10703
WeI2I.148	High-Bandwidth Tactile-Reactive Control for Grasp Adjustment	2509.15876
WeI2I.152	Reactive Slip Control in Multifingered Grasping: Hybrid Tactile Sensing and Internal-Force Optimization	2602.16127
WeI2I.187	Force Estimation and Position Control of a Hydraulic Folded Pouch Actuator for Soft Robotics
WeI2I.188	TacUMI: A Multi-Modal Universal Manipulation Interface for Contact-Rich Tasks	2601.14550
WeI2I.201	Zero-Shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks	2505.02915
WeI2I.211	Vi-TacMan: Articulated Object Manipulation Via Vision and Touch	2510.06339
WeI2I.401	Autonomous Exploration for Shape Reconstruction and Measurement Via Informative Contact-Guided Planning
WeI2I.408	Ultra-Fast Lightweight Incipient Slip Detection Using Hyperdimensional Computing with the PapillArray Tactile Sensor
WeI2I.44	No Need to Look! Locating and Grasping Objects by a Robot Arm Covered with Sensitive Skin	2508.17986
WeI2I.47	Few-Shot Transfer of Tool-Use Skills Using Human Demonstrations with Proximity and Tactile Sensing	2507.13200

Dexterous & in-hand manipulation (75) — see Dexterous & in-hand manipulation

Code	Title	arXiv
ThBT2.4	Deep Sensorimotor Control by Imitating Predictive Models of Human Motion	2508.18691
ThI1I.107	DemoBot: Efficient Learning of Bimanual Manipulation with Dexterous Hands from Third-Person Human Videos	2601.01651
ThI1I.142	CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations
ThI1I.244	In-The-Wild Compliant Manipulation with UMI-FT	2601.09988
ThI1I.320	MachaGrasp: Morphology-Aware Cross-Embodiment Dexterous Hand Articulation Generation for Grasping	2510.06068
ThI1I.321	OmniDexGrasp: Generalizable Dexterous Grasping via Foundation Model and Force Feedback	2510.23119
ThI1I.346	Multi-Keypoint Affordance Representation for Functional Dexterous Grasping	2502.20018
ThI1I.381	Robot Deformable Object Manipulation via NMPC-Generated Demonstrations in Deep RL (I)	2502.11375
ThI1I.386	The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey	2507.11840
ThI1I.56	Switchable Neural Teleoperation
ThI1I.85	Monorail-Like Gripper System with Dynamic and Modular Reconfiguration for Diverse Finger Layouts
ThI1I.96	DemoDiffusion: One-Shot Human Imitation Using Pre-Trained Diffusion Policy	2506.20668
ThI2I.125	MultiHand: Design and Verification of a Dexterous Hand with Multi-Modal Grasping Capabilities
ThI2I.143	SEM: Enhancing Spatial Understanding for Robust Robot Manipulation	2505.16196
ThI2I.231	Robust Hand Tracking from Visual-Inertial Fusion
ThI2I.235	Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis	2511.05809
ThI2I.26	High-Speed Scooping through Dynamic Manipulation: Model and Practice
ThI2I.292	Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstration	2601.05243
ThI2I.296	TransDexNet: End-to-End Motion Retargeting Network with Transformer for Dexterous Hand Teleoperation from RGB Images
ThI2I.352	Development of the Bioinspired Tendon-Driven DexHand 021 with Proprioceptive Compliance Control	2511.03481
ThI2I.377	Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation	2411.14913
ThI2I.383	DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments	2504.04516
ThI2I.83	FAR-Dex: Few-Shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulation	2603.10451
TuAT3.1	Spatially-Anchored Tactile Awareness for Robust Dexterous Manipulation (SaTA)	2510.14647
TuAT3.7	Irrotational Contact Fields	2312.03908
TuAT3.9	Language-Guided Dexterous Functional Grasping by LLM Generated Grasp Functionality and Synergy for Humanoid Manipulation (I)
TuAT4.6	Soft Omni-Functional Robotic Gripper with a Force-Enhanced Pleated Mechanism for High Force and Multi-DoF Manipulation
TuBT3.3	CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping under Uncertainty
TuI1I.124	Dynamic Scoop-and-Flick Manipulation for Rapid Non-Prehensile High-Arc Object Transfer
TuI1I.169	Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation	2509.13126
TuI1I.171	CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-Like Contact Representations	2509.24661
TuI1I.183	VFP: Variational Flow-Matching Policy for Multi-Modal Robot Manipulation	2508.01622
TuI1I.198	Dexterous Planar Pushing under Uncertain Object Properties: A Contact-Aware Goal-Oriented Approach
TuI1I.199	DexKnot: Generalizable Visuomotor Policy Learning for Dexterous Bag-Knotting Manipulation	2603.07136
TuI1I.206	SoftHand Model-W: A 3D-Printed, Anthropomorphic, Underactuated Robot Hand with Integrated Wrist and Carpal Tunnel	2604.00738
TuI1I.214	Two Degree-of-Freedom Vibratory Transport in a Grasp
TuI1I.249	Suction Leap-Hand: Suction Cups on a Multi-Fingered Hand Enable Embodied Dexterity and In-Hand Teleoperation	2509.20646
TuI1I.292	MiniBEE: A New Form Factor for Compact Bimanual Dexterity	2510.01603
TuI1I.375	Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity	2505.13350
TuI1I.52	A Gripper with Extreme Stiffness Anisotropy for High-Speed Handling of Fragile Foods
TuI1I.67	Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-Like Manipulation	2511.22100
TuI1I.79	Multi-Modal Affordance Planner with Temporal-Context Action Policy for Long-Horizon Bimanual Robot Manipulation
TuI1LB.4	A Wire-Driven Robotic Hand with Mode-Switchable Planetary Transmission for Dynamic Manipulation
TuI2I.11	Nonlinear Model Predictive Control for Robotic Pushing of Planar Objects with Generic Shape
TuI2I.111	Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-The-Wild Human Demonstrations (AINA)	2511.16661
TuI2I.141	DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands	2412.01791
TuI2I.169	One-Policy-Fits-All: Geometry-Aware Action Latents for Cross-Embodiment Manipulation	2603.14522
TuI2I.173	Learning Generalizable Robot Policy with Human Demonstration Video as a Prompt	2505.20795
TuI2I.196	UltraDexGrasp: Learning Universal Dexterous Grasping for Bimanual Robots with Synthetic Data	2603.05312
TuI2I.218	Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation	2510.07030
TuI2I.309	Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation	2510.08807
TuI2I.337	Spectral Decomposition of Inverse Dynamics for Fast Exploration in Model-Based Manipulation	2603.27796
TuI2I.34	The Folding Hand: Anthropomorphic Robotic Hands with a Compact Reconfigurable Humanoid Palm Design
TuI2I.67	Learning Geometry-Aware Nonprehensile Pushing and Pulling with Dexterous Hands	2509.18455
TuI2I.95	Approximated Collision Detection for Contact-Rich Dexterous Manipulation with Nonnegative Least Squares
WeAT1.2	Robotic Dexterous Manipulation via Anisotropic Friction Modulation Using Passive Rollers	2603.27452
WeAT1.5	Push Anything: Single and Multi-Object Pushing from First Sight with Contact-Implicit MPC	2510.19974
WeI1I.109	Touch-Based Object Localisation with Spatially-Aware Belief Entropy Estimation
WeI1I.165	Bi-Hap: A Bi-Directional Learning-Based Control and Momentum-Based Haptic Feedback System for Dexterous In-Hand Telemanipulation	2409.20527
WeI1I.183	HybNetic: A Mobile Hybrid Magnetic Actuation System
WeI1I.213	DexCtrl: Sim-To-Real Dexterity with Adaptive Controller Learning	2505.00991
WeI1I.345	Frictional and Prismatic Pin-Array Gripper for Universal Gripping and Stable Tool Manipulation
WeI1I.36	A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning	2507.11938
WeI1I.376	UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Hands	2508.03339
WeI1I.386	On Transient Release Dynamics in Robot Throwing: A Sliding Pivot Model
WeI1I.411	Deformable Cluster Manipulation via Whole-Arm Policy Learning	2507.17085
WeI2I.101	Best of Sim and Real: Decoupled Visuomotor Manipulation via Learning Control in Simulation and Perception in Real	2509.25747
WeI2I.13	Enhancing Safety and Manipulability of Redundant Manipulators: Accelerated Motion Generation in Dynamic Environments
WeI2I.176	T(R,O) Grasp: Efficient Graph Diffusion of Robot-Object Spatial Transformation for Cross-Embodiment Dexterous Grasping	2510.12724
WeI2I.204	Learning Dexterous Manipulation with Quantized Hand State (DQ-RISE)	2509.17450
WeI2I.292	Towards Automated Chicken Deboning via Learning-Based Dynamically-Adaptive 6-DoF Multi-Material Cutting	2510.15376
WeI2I.338	Manipulating Elasto-Plastic Objects with 3D Occupancy and Learning-Based Predictive Control	2505.16249
WeI2I.428	Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization	2505.10884
WeI2I.55	Flow before Imitation: Learning Dexterous In-Hand Manipulation with Dynamic Visuotactile Shortcut Policy (FBI)	2508.14441
WeI2LB.10	Ultra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction

Bimanual & dual-arm manipulation (50) — see Bimanual & dual-arm manipulation

Code	Title	arXiv
ThBT3.2	ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces	2509.18084
ThI1I.116	TOCALib: Optimal Control Library with Interpolation for Bimanual Manipulation and Obstacles Avoidance	2504.07708
ThI1I.128	Connectivity-Aware Representations for Constrained Motion Planning Via Multi-Scale Contrastive Learning	2603.25298
ThI1I.144	TrajBooster: Boosting Humanoid Whole-Body Manipulation Via Trajectory-Centric Learning	2509.11839
ThI1I.253	Dual Quaternion Based Compliant Movement Primitives for Deformable Object Manipulation
ThI1I.268	PA-BiCoop: A Primary-Auxiliary Cooperative Framework for General Bimanual Manipulation
ThI1I.284	Observer–Actor: Active Vision Imitation Learning with Sparse-View Gaussian Splatting	2511.18140
ThI1I.303	Look, Focus, Act: Efficient and Robust Robot Learning Via Human Gaze and Foveated Vision Transformers	2507.15833
ThI1I.341	RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation	2507.00435
ThI1I.71	Planning-Guided Diffusion Policy Learning for Contact-Rich Bimanual Object Reorientation	2412.02676
ThI1I.93	Give Me Scissors: Collision-Free Dual-Arm Surgical Assistive Robot for Instrument Delivery	2603.02553
ThI2I.118	Right-Side-Out: Learning Zero-Shot Sim-To-Real Garment Reversal	2509.15953
ThI2I.18	TactileAloha: Learning Bimanual Manipulation with Tactile Sensing
ThI2I.181	RoTri-Diff: A Spatial Robot–Object Triadic Interaction-Guided Diffusion Model for Bimanual Manipulation	2603.07165
ThI2I.248	DAG-Plan: Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planning	2406.09953
ThI2I.31	Dual Arm Steering of Flexible Linear Objects in 2-D and 3-D Environments Using Euler's Elastica Solutions	2502.07509
TuI1I.123	DexTele: A Dual-Arm Dexterous Teleoperation System Based on Motion Retargeting and Adaptive Force Control
TuI1I.157	DSPv2: Improved Dense Policy for Effective and Generalizable Whole-Body Mobile Manipulation	2509.16063
TuI1I.159	Leveraging Two Robotic Arms for Tight Assembly Performance Gains
TuI1I.256	DiffDef: A Diffusion Model for Generating Multimodal Goal Shapes from Demonstrations for Deformable Object Manipulation	2506.18779
TuI1I.395	CaFe-TeleVision: A Coarse-To-Fine Teleoperation System with Immersive Situated Visualization for Enhanced Ergonomics	2512.14270
TuI1I.409	SIS: Seam-Informed Strategy for T-Shirt Unfolding	2409.06990
TuI1I.7	Iterative Shaping of Multi-Particle Aggregates Based on Action Trees and VLM	2501.13507
TuI2I.114	Search Strategy for Layered Peg-In-Hole Using Dual Manipulator System
TuI2I.167	HeRO: Hierarchical 3D Semantic Representation for Pose-Aware Object Manipulation	2602.18817
TuI2I.203	Velocity-Based Admittance-Impedance Control with Contact Compliance Modeling for Robust Dual-Arm Manipulation
TuI2I.228	CRAFT: Long-Horizon Cable Routing Algorithm and Low-Friction Caging Gripper
TuI2I.230	Residual Off-Policy RL for Finetuning Behavior Cloning Policies	2509.19301
TuI2I.235	Consensus Driven Dynamical Systems Control for Dual-Arm Handover
TuI2I.365	VLM-SFD: VLM-Assisted Siamese Flow Diffusion Framework for Dual-Arm Cooperative Manipulation	2506.13428
TuI2I.375	Bimanual Regrasp Planning and Control for Active Reduction of Object Pose Uncertainty	2503.22240
TuI2I.382	Transformer Driven Visual Servoing for Fabric Texture Matching Using Dual-Arm Manipulator	2511.21203
TuI2LB.2	An Efficient Learning-Based Task Planning Approach Using a Bio-Inspired Action Context-Free Grammar for Bimanual Manipulation
TuI2LB.7	Stereo-Based Vision and Tactile Sensing for Robust Dual-Arm Robotic Connector Assembly
WeAT1.3	Bi-Adapt: Few-Shot Bimanual Adaptation for Novel Categories of 3D Objects Via Semantic Correspondence	2602.08425
WeI1I.112	Adaptive Diffusion Constrained Sampling for Bimanual Robot Manipulation	2505.13667
WeI1I.203	ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling	2511.04758
WeI1I.262	MonoDuo: Using One Robot Arm to Learn Bimanual Policies
WeI1I.292	BiGraspFormer: End-To-End Bimanual Grasp Transformer	2509.19142
WeI1I.33	Enhancing Reusability of Learned Skills for Robot Manipulation Via Gaze Information and Motion Bottlenecks	2502.18121
WeI1I.395	Impact-Aware Dual-Arm Manipulation
WeI1I.57	ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentation	2509.19454
WeI2I.18	BFA: Best-Feature-Aware Fusion for Multi-View Fine-Grained Manipulation	2502.11161
WeI2I.216	ALOHA Lightning: Learning Fast and Precise Manipulation
WeI2I.224	High-Performance Dual-Arm Task and Motion Planning for Tabletop Rearrangement	2512.08206
WeI2I.233	How Well Do Diffusion Policies Learn Kinematic Constraint Manifolds?	2510.01404
WeI2I.281	Towards Exploratory and Focused Manipulation with Bimanual Active Perception: A New Problem, Benchmark and Strategy	2602.01939
WeI2I.295	Adaptive Curvature-Aware Routing for Stiff Cable Control Via Dual Manipulation
WeI2I.332	A Transendoscopic Telerobotic System Using Heterogeneous Flexible Manipulators for Bimanual Endoscopic Submucosal Dissection
WeI2I.436	Time-Series Data-Driven Three Dimensional Shape Control of Deformable Linear Objects Using a Dual-Arm Robot with Dynamic Model Updating

Mobile manipulation (34) — see Mobile manipulation

Code	Title	arXiv
ThI1I.105	MIMO: A Multimodal Imitation Learning Framework for Mobile Manipulation with Exoskeleton-VR Teleoperation
ThI1I.313	CMAR-Search: Commonsense and Memory Augmented Reasoning for Object Search in Dynamic Interactive Environments
ThI1I.361	Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning with Path Constraints	2410.20635
ThI1I.408	From Composable Models to Correct-By-Construction Software for Contact-Rich Robotic Mobile-Manipulation Tasks
ThI2I.19	RAMBO: RL-Augmented Model-Based Whole-Body Control for Loco-Manipulation	2504.06662
ThI2I.221	HoMeR: Learning In-The-Wild Mobile Manipulation Via Hybrid Imitation and Whole-Body Control	2506.01185
ThI2I.319	Task and Skill Planning: Hierarchical Robot Planning with Black-Box Skills	2504.17901
ThI2I.7	Task-Driven Co-Design of Mobile Manipulators	2412.16635
ThI2LB.12	Heterogeneous Skill Learning for Asynchronous Multi-Robot Relay Pushing in Complex Environments
ThI2LB.14	Inverse Reachability Map Guided Motion Planning of Mobile Manipulator
TuBT2.4	Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place	2602.17199
TuI1I.251	SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation	2509.21231
TuI1I.268	Uncertainty-Aware Adaptive Dynamics for Underwater Vehicle–Manipulator Robots	2603.06548
TuI1I.318	BINDER: Instantly Adaptive Mobile Manipulation with Open-Vocabulary Commands	2511.22364
TuI1I.34	Rapid Adaptation of Particle Dynamics for Generalized Deformable Object Mobile Manipulation	2603.18246
TuI1I.423	Virtual-Force Based Visual Servo for Multiple Peg-In-Hole Assembly with Tightly Coupled Multi-Manipulator	2407.10570
TuI1I.58	TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators Via Topological Paths Search and Arc Length-Yaw Parameterization	2507.02761
TuI2I.166	M4Diffuser: Multi-View Diffusion Policy with Manipulability-Aware Control for Robust Mobile Manipulation	2509.14980
TuI2I.2	Mobile Manipulation Instruction Generation from Multiple Images with Automatic Metric Enhancement	2501.17022
TuI2I.258	Searching in Space and Time: Unified Memory-Action Loops for Open-World Object Retrieval	2511.14004
TuI2I.419	Cooperative Grasping for Collective Object Transport in Constrained Environments	2509.03638
WeBT2.6	EMMA: Scaling Mobile Manipulation Via Egocentric Human Data	2509.04443
WeI1I.1	Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters	2411.07079
WeI1I.104	SHOPPER: Practical Insights on Grasp Strategies for Mobile Manipulation in the Wild	2504.12512
WeI1I.175	VLION: Vision-Language Guided Interactive Object Navigation with Mobile Manipulation
WeI1I.220	UMI-On-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies	2510.02614
WeI1I.267	Multi-Quadruped Cooperative Object Transport: Learning Decentralized Pinch-Lift-Move	2509.14342
WeI1I.324	LeGO-MM: Learning Navigation for Goal-Oriented Mobile Manipulation Via Hierarchical Policy Distillation
WeI1I.67	CAIMAN: Causal Action Influence Detection for Sample-Efficient Loco-Manipulation	2502.00835
WeI1I.76	Reactive Whole-Body Control of Mobile Manipulators for Dynamic Target Tracking Via Adaptive-Predictive Visual Servoing
WeI2I.280	Uncertainty-Aware Non-Prehensile Manipulation with Mobile Manipulators under Object-Induced Occlusion (CURA-PPO)	2602.01731
WeI2I.293	SM²ITH: Safe Mobile Manipulation with Interactive Human Prediction Via Task-Hierarchical Bilevel Model Predictive Control	2511.17798
WeI2I.407	Serving Innovation: Seamless Service by Advancing Food Runners with Mobile Manipulation (MOMO)
WeI2I.426	Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation	2511.19709

Assembly & contact-rich manipulation (58) — see Assembly & contact-rich manipulation

Code	Title	arXiv
ThBT1.9	A Kinesthetic Teaching Framework for Tasks with Contact Transitions and Time-Optimized Execution
ThBT3.9	A Gripper for Flap Separation and Opening of Sealed Bags	2603.10890
ThI1I.108	PaiP: An Operational Aware Interactive Planner for Unknown Cabinet Environments	2509.11516
ThI1I.129	Refinery: Active Fine-Tuning and Deployment-Time Optimization for Contact-Rich Policies	2510.11019
ThI1I.209	Adaptive Physical Human–Robot Interaction Via a Passivity-Aware Model Predictive Variable Admittance Control
ThI1I.220	M-VTOP: Modular Visuo-Tactile Object Pose Estimation for High-Precision Robotic Manipulation
ThI1I.266	SPARR: Simulation-Based Policies with Asymmetric Real-World Residuals for Assembly	2602.23253
ThI1I.281	Compositional Context Fine-Tuning Vision-Language Model for Complex Assembly Action Understanding from Videos
ThI1I.385	Hybrid Contact Dynamics and Residual-RL Framework for Multi-Point Object Pushing
ThI1I.398	Impedance Control Design Framework Using Commutative Map between SE(3) and se(3)
ThI1I.405	Predictive Admittance Control for Aerial Physical Interaction
ThI1LB.15	Grasping Point Estimation for EA Suction Cup Grippers on Curved Objects
ThI2I.1	Multimodal Variational DeepMDP: An Efficient Approach for Industrial Assembly in High-Mix, Low-Volume Production
ThI2I.205	Decentralized Admittance Control for a Multi–manipulator System: Theory and Experiments
ThI2I.282	CG-THWM: Curriculum-Guided Temporal Haptic World Modeling for Peg-In-Hole Tasks
ThI2I.304	GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins	2603.05108
ThI2I.325	Passive Multi-Task Compliance Control with Strict Priority through Energy Tanks
ThI2I.357	SDRS: Shape-Differentiable Robot Simulator	2412.19127
ThI2I.395	Data-Efficient Constrained Robot Learning with Probabilistic Lagrangian Control
ThI2I.407	Harmonising Safety Paradigms: Energy-Aware Control of Active Response and Passive Compliance for Safety-Critical Robotic Tasks
ThI2I.45	TIGeR: Text-Instructed Generation and Refinement for Template-Free Hand-Object Interaction	2506.00953
TuAT1.5	RCM Constraint-Consistent Dynamic Control in Surgical Robots	2509.14075
TuBT3.9	Differentiable Contact Dynamics for Stable Object Placement under Geometric Uncertainties	2409.17725
TuBT4.1	Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots	2602.10561
TuI1I.122	Bending Perception-Based Variable Stiffness Control for Snake Robots in Pipe Navigation
TuI1I.14	Limiting Kinetic Energy through Control Barrier Functions: Analysis and Experimental Validation	2411.02186
TuI1I.163	DiSPo: Diffusion-SSM Based Policy Learning for Coarse-To-Fine Action Discretization	2409.14719
TuI1I.177	ActionReasoning: Robot Action Reasoning in 3D Space with LLM for Robotic Brick Stacking	2602.21157
TuI1I.216	A Convex Formulation of Compliant Contact between Filaments and Rigid Bodies	2509.13434
TuI1I.231	IDfRA: Self-Verification for Iterative Design in Robotic Assembly	2509.16998
TuI1I.291	Sym-Servo: Disambiguate Symmetric Object Pose by End-To-End Optimal Visual Servo
TuI1I.360	Torque-Bounded Task-Space Admittance Control for Redundant Manipulators
TuI1LB.11	Suppressing Initial Force Overshoot Using Admittance Filter and ASMC under Contact Location Uncertainty
TuI2I.226	Iterative Learning-Based Centre-Of-Mass Impedance Control for Articulated-Soft Humanoid Robots
TuI2I.233	Amortized NeuralSDF-Mesh Collision Detection for Robotic Contact Simulation
TuI2I.248	TwinTrack: Bridging Vision and Contact Physics for Real-Time Tracking of Unknown Objects in Contact-Rich Scenes	2505.22882
TuI2I.283	Stroke-Based Variable-Damping with Force Attenuation for Capturing Large-Momentum Objects under Non-Zero Contact Velocity
TuI2I.291	Safe and Optimal Variable Impedance Control Via Certified Reinforcement Learning	2511.16330
TuI2I.406	Physics-Informed Passive Motion Paradigm for Parallel Robots: A High-Precision Motor-Primitives Framework
TuI2I.5	Semi-Autonomous Teleoperation Using Differential Flatness of a Crane Robot for Aircraft In-Wing Inspection	2412.10973
TuI2LB.23	GPT-PDDL: Towards Executable Robot Task Planning
TuI2LB.4	GLaMP: A Grounded Language Model-Based Multi-Agent System for Long-Horizon Robotic Task Planning in Industrial Settings
WeAT4.1	On Robust Coordinated Compliant Control Design for Space Manipulators under Flexible and Uncertain Dynamics
WeAT4.9	Astrobee: Free-Flying Robots for the International Space Station (I)
WeI1I.121	AssemMate: Graph-Based LLM for Robotic Assembly Assistance	2509.11617
WeI1I.172	Bipedal-Walking-Dynamics Model on Granular Terrains	2604.11981
WeI1I.375	Flexible-Link Velocity-Bounding Proxy Based Sliding Mode Control
WeI1I.391	Nullspace Optimization of Redundant Robots for Dynamics Decoupling in Motion Force Control
WeI1I.436	Estimation of the Caged Object's Posture under Forces Using Stepwise Geometric Calculations
WeI1I.9	Stable Object Placement Planning from Contact Point Robustness	2410.12483
WeI2I.121	CoTaP: Compliant Task Pipeline and Reinforcement Learning of Its Controller with Compliance Modulation	2509.25443
WeI2I.236	Few-Shot Neural Differentiable Simulator: Real-To-Sim Rigid-Contact Modeling	2603.06218
WeI2I.248	MICA: Multi-Agent Industrial Coordination Assistant	2509.15237
WeI2I.263	Robust Differentiable Collision Detection for General Objects	2511.06267
WeI2I.319	Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data	2510.02738
WeI2I.373	RoboMT: Human-Like Compliance Control for Assembly Via a Bilateral Robotic Teleoperation and Hybrid Mamba-Transformer Framework
WeI2I.397	Robotic Harvesting of Delicate Fruit: Design and Implementation of an Under-Actuated Disturbance-Resistant Gripper
WeI2I.88	HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation	2511.14756

Grasp synthesis & grippers (41) — see Grasp synthesis & grippers

Code	Title	arXiv
ThI1I.233	GIFT: Geometry-Induced Functional Transfer for Category-Level Object Manipulation	2503.15371
ThI1I.300	A Tactile Rubbing Gripper for Reliable Fabric Separation
ThI1I.329	GarmentPile++: Affordance-Driven Cluttered Garments Retrieval with Vision-Language Reasoning	2603.04158
ThI1I.374	GraspControl: Text-Sketch Instruction As an Interface for Controllable Grasp Synthesis
ThI1I.70	HOGraspFlow: Taxonomy-Aware Hand-Object Retargeting for Multi-Modal SE(3) Grasp Generation	2509.16871
ThI1I.73	GraspGen: A Diffusion-Based Framework for 6-DOF Grasping with On-Generator Training	2507.13097
ThI1LB.2	Structural Interlocking-Based Weaving Gripper for Enhanced Grasping Performance
ThI2I.124	Differentiable Optimization-Based Modular Planning Framework for Pick-And-Place with Regrasp
ThI2I.211	Design and Validation of a Soft Self-Centering Gripper for Delicate Object Handling
ThI2I.389	Efficient Alignment of Unconditioned Action Prior for Language-Conditioned Pick and Place in Clutter (I)	2503.09423
ThI2I.96	A Hybrid Optimization Framework for Grasp Synthesis under Partial Observations
TuAT3.8	Leveraging Embodied Mechanical Intelligence for Learning Decluttering Tasks
TuI1I.113	Taxonomy-Aware Dynamic Motion Generation on Hyperbolic Manifolds	2509.21281
TuI1I.117	Zero-Shot Exocentric Viewpoint-Robust Imitation Learning (VIL): Bridging Handheld Gripper and Exocentric Views
TuI1I.142	Hierarchical Reactive Grasping Via Task-Space Velocity Fields and Joint-Space Quadratic Programming	2509.01044
TuI1I.283	A Novel Soft Gripper Design Integrating a Unilateral Fingernail-Like Mechanism for Grasping Flat Object
TuI1I.328	DiffuDepGrasp: Diffusion-Based Depth Noise Modeling Empowers Sim-To-Real Robotic Grasping	2511.12912
TuI1I.425	HEAPGrasp: Hand-Eye Active Perception to Grasp Objects with Diverse Optical Properties
TuI1I.48	GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation	2510.20813
TuI1I.9	A Hyperspectral Imaging Guided Robotic Grasping System	2512.05578
TuI2I.205	Benchmarking the Effects of Object Pose Estimation and Reconstruction on Robotic Grasping Success	2602.17101
TuI2I.207	DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps	2509.21145
TuI2I.29	A Benchmarking Study of Vision-Based Robotic Grasping Algorithms	2503.11163
TuI2I.403	Tracing Energy Flow: Learning Tactile-Based Grasping Force Control to Reduce Slippage in Dynamic Object Interaction	2512.21043
TuI2I.86	Pose Retargeting from a Single RGB Camera: Optimization-Based Hand Pose Retargeting and Wrist Pose Estimation
TuI2LB.17	Active Perception for Deformable Linear Objects Stiffness Estimation
WeI1I.150	Tool-Grasp: A 6-DoF Functional Grasping Framework for General-Purpose Hand Tools
WeI1I.298	LACY: A Vision-Language Model-Based Language-Action Cycle for Self-Improving Robotic Manipulation	2511.02239
WeI1I.305	GAPG: Geometry Aware Push-Grasping Synergy for Goal-Oriented Manipulation in Clutter	2603.21195
WeI1I.366	Zero-Shot Recognition of Test Tube Types by Automatically Collecting and Labeling RGB Data
WeI1I.433	A Cable-Driven Soft Robotic Hand with an In-Hand RGB-D Camera for Dexterous Grasping and Manipulation
WeI2I.126	GPD-AP: A Grasp Pose-Driven Active Perception Framework for Occlusion-Robust Robotic Manipulation
WeI2I.22	A Dual-Adhesion-Enhanced Soft Gripper with Microwedge Adhesives and SMA-Driven Microspines
WeI2I.362	Learning from Planned Data to Improve Robotic Pick-And-Place Planning Efficiency	2506.15920
WeI2I.366	Communication-Efficient Module-Wise Federated Learning for Grasp Pose Detection in Cluttered Environments	2507.05861
WeI2I.390	RoboPacker: An Autonomous Robotic Packing System for General Objects (I)
WeI2I.82	SureGrip: Perceptual Grasping of Natural Handholds for Free-Climbing Robots
WeI2I.95	Grasp-MPC: Closed-Loop Visual Grasping Via Value-Guided Model Predictive Control	2509.06201
WeI2LB.13	Towards Dexterous Agri-Food Manipulation: Topology-Dependent Interaction Patterns in a Reconfigurable Multifingered Gripper
WeI2LB.17	Curvature Adaptable Robotic End-Effectors
WeI2LB.8	An Underactuated Robotic Gripper with Flowability and Variable Stiffness for Food Bin-Picking

Perception for manipulation (82) — see Perception for manipulation

Code	Title	arXiv
ThI1I.114	Latent Representations for Visual Proprioception in Inexpensive Robots	2504.14634
ThI1I.134	NovaFlow: Zero-Shot Manipulation Via Actionable Flow from Generated Videos	2510.08568
ThI1I.185	GAF: Gaussian Action Field As a 4D Representation for Dynamic World Modeling in Robotic Manipulation	2506.14135
ThI1I.187	Beyond Domain Randomization: Event-Inspired Perception for Visually Robust Adversarial Imitation from Videos	2505.18899
ThI1I.195	Robotic Grasping and Placement Controlled by EEG-Based Hybrid Visual and Motor Imagery	2603.03181
ThI1I.198	OHMM-PA: A Learning from Demonstration Approach Using Online Hidden Markov Models with Path Planning
ThI1I.212	CoVAR: Co-Generation of Video and Action for Robotic Manipulation Via Multi-Modal Diffusion	2512.16023
ThI1I.25	Haptic Stiffness Perception Using Hand Exoskeletons in Tactile Robotic Telemanipulation	2412.02613
ThI1I.330	UniDoorManip: Learning Universal Door Manipulation Policy Over Large-Scale and Diverse Door Manipulation Environments	2403.02604
ThI1I.333	Kinematify: Open-Vocabulary Synthesis of High-DoF Articulated Objects	2511.01294
ThI1I.383	SPILL: Size, Pose, and Internal Liquid Level Estimation of Transparent Glassware for Robotic Bartending
ThI1I.407	VERM: Leveraging Foundation Models to Create a Virtual Eye for Efficient 3D Robotic Manipulation	2512.16724
ThI1I.52	GP3: A 3D Geometry-Aware Policy with Multi-View Images for Robotic Manipulation	2509.15733
ThI1I.99	Mash, Spread, Slice! Learning to Manipulate Object States Via Visual Spatial Progress	2509.24129
ThI2I.114	Actron3D: Learning Actionable Neural Functions from Videos for Transferable Robotic Manipulation	2510.12971
ThI2I.121	Improving Robotic Manipulation Robustness Via NICE Scene Surgery	2511.22777
ThI2I.137	T-FunS3D: Task-Driven Hierarchical Open-Vocabulary 3D Functionality Segmentation
ThI2I.182	Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion	2605.23847
ThI2I.197	OCRA: Object-Centric Learning with 3D and Tactile Priors for Human-To-Robot Action Transfer	2603.14401
ThI2I.258	VistaBot: View-Robust Robot Manipulation Via Spatiotemporal-Aware View Synthesis	2604.21914
ThI2I.288	Real-To-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions	2511.04665
ThI2I.337	PartPose: Attentive 6D Pose Estimation by Focusing on Graspable Parts of Multi-Part Deformable Objects
ThI2I.364	Interactive Robotic Moving Cable Segmentation by Motion Correlation
ThI2I.374	RUMI: Rummaging Using Mutual Information	2408.10450
ThI2I.406	SilRef: Joint Visual Silhouette and Tactile Pose Optimization for Transparent Object Manipulation
ThI2I.51	Informative Object-Centric Next Best View for Object-Aware 3D Gaussian Splatting in Cluttered Scenes
TuAT1.3	FP3: A 3D Foundation Policy for Robotic Manipulation	2503.08950
TuAT3.5	SceneComplete: Open-World 3D Scene Completion in Cluttered Real World Environments for Robot Manipulation	2410.23643
TuAT3.6	Robust Bayesian Scene Reconstruction with Retrieval-Augmented Priors for Precise Grasping and Planning	2411.19461
TuI1I.12	Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven DLO Manipulation	2502.18615
TuI1I.225	Coupled Particle Filters for Robust Affordance Estimation	2603.15223
TuI1I.242	PokeNet: Learning Kinematic Models of Articulated Objects from Human Observations	2602.02741
TuI1I.294	COMPASS: Confined-Space Manipulation Planning with Active Sensing Strategy	2509.14787
TuI1I.325	An Autonomous and Hardware-Agnostic Vision-Servoed System for Microdevice Injection
TuI1I.353	Plug-And-Play Shape Matching Module for Zero-Shot Mesh-Free Grasp Refinement on Unknown Objects
TuI1I.364	Fine-Grained Classification for Depth Estimation from Monocular Microscopy for Robotic Micromanipulation of Motile Cells
TuI1I.397	Learning 6D Object Pose Estimation with Event Cameras Using Synthetic Data and Domain Randomization
TuI1I.431	Active-Perceptive Language-Oriented Grasp Policy for Heavily Cluttered Scenes
TuI1I.68	Perception-Control Coupled Visual Servoing for Textureless Objects Using Keypoint-Based EKF	2602.06834
TuI1I.86	AdapGrasp: A Stiffness and Grasp Affordance Dataset with a Transformer-Based Adaptive Grasp Model
TuI1I.97	RoboHitch: Learning Visual Affordance from Disordered Keypoints for Hitch Knots Tying	2605.24394
TuI1LB.8	Uncertainty-Aware Stereo Grasp Point Selection for Deformable Linear Objects
TuI2I.123	Dream2Flow: Bridging Video Generation and Open-World Manipulation with 3D Object Flow	2512.24766
TuI2I.198	Tactile Memory for Continuous Policy Blending in Unified Force-Impedance Control
TuI2I.219	CloSE: A Geometric Shape-Agnostic Cloth State Representation	2504.05033
TuI2I.250	Category-Level Object Shape and Pose Estimation in Less Than a Millisecond	2509.18979
TuI2I.316	MGS-Track: Monocular 6DoF Pose Tracking Via Masked 3D Prior and Online Gaussian Splatting
TuI2I.323	3D Dynamics-Aware Manipulation: Endowing Manipulation Policies with 3D Foresight	2502.10028
TuI2I.336	The Price Is Not Right: Neuro-Symbolic Methods Outperform VLAs on Structured Long-Horizon Manipulation Tasks with Significantly Lower Energy Consumption	2602.19260
TuI2I.345	Visual Category-Guided One-Shot Open Affordance Grounding
TuI2I.364	ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input	2409.20173
TuI2I.436	Augmented Reality for RObots (ARRO): Pointing Visuomotor Policies towards Visual Robustness	2505.08627
TuI2I.90	Diffusion Knows Transparency: Repurposing Video Diffusion for Transparent Object Depth and Normal Estimation	2512.23705
TuI2LB.16	Toward Multimodal Liquid-Level Estimation for Closed-Loop Robotic Pouring
WeAT3.1	GFreeDet2: Exploiting Gaussian Splatting and Foundation Models for RGB-Based Model-Free 2D and 6D Detection of Unseen Objects	2412.01552
WeI1I.131	Imagine2Act: Leveraging Object-Action Motion Consistency from Imagined Goals for Robotic Manipulation	2509.17125
WeI1I.159	Bi-Manual Joint Camera Calibration and Scene Representation	2505.24819
WeI1I.16	CVF-DLO: Cross-Visual-Field Branched Deformable Linear Objects Route Estimation
WeI1I.194	SE(3)-PoseFlow: Estimating 6D Pose Distributions for Uncertainty-Aware Robotic Manipulation	2511.01501
WeI1I.214	PIRATR: Parametric Object Inference for Robotic Applications with Transformers in 3D Point Clouds	2602.05557
WeI1I.228	Sparse Meets Dense: Correspondence Guided Robotic Manipulation with Rigid-Deformable Interactions
WeI1I.252	VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulation	2510.15530
WeI1I.268	Ego-Vision World Model for Humanoid Contact Planning	2510.11682
WeI1I.271	GeoLanG: Geometry-Aware Language-Guided Grasping with Unified RGB-D Multimodal Learning	2602.04231
WeI1I.362	TORM: Transparent Objects Reconstruction and Manipulation with Multi-View Segmentation
WeI1I.382	Fixture-Free Automated Sewing System Using Dual-Arm Manipulator and High-Speed Fabric Edge Detection
WeI1I.88	EdgeGrasp: Enhancing Edge Perception for 7-DoF Grasping Pose Estimation in Cluttered Scenes
WeI1I.89	Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning	2510.03885
WeI1I.92	Point2Act: Efficient 3D Distillation of Multimodal LLMs for Zero-Shot Context-Aware Grasping	2508.03099
WeI2I.131	Learning to Grasp by Integrating Human Preferences and Success Feedback
WeI2I.181	Clutt3R-Seg: Sparse-View 3D Instance Segmentation for Language-Grounded Grasping in Cluttered Scenes	2602.11660
WeI2I.196	Visual-Auditory Extrinsic Contact Estimation	2409.14608
WeI2I.198	RoboPCA: Pose-Centered Affordance Learning from Human Demonstrations for Robot Manipulation	2603.07691
WeI2I.223	From Swept Contact to Pose: Probe-Aware Registration Via Complementary-Shape Docking
WeI2I.230	Subsecond 3D Mesh Generation for Robot Manipulation	2512.24428
WeI2I.254	Sim2real Image Translation Enables Viewpoint-Robust Policies from Fixed-Camera Datasets	2601.09605
WeI2I.289	Beyond the Patch: Exploring Vulnerabilities of Visuomotor Policies Via Viewpoint-Consistent 3D Adversarial Object	2603.04913
WeI2I.312	CAVER: Curious AudioVisual Exploring Robot	2511.07619
WeI2I.327	GUIDES: Guidance Using Instructor-Distilled Embeddings for Pre-Trained Robot Policy Enhancement	2511.03400
WeI2I.33	DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarios	2503.19625
WeI2I.331	OmniMap: A General Mapping Framework Integrating Optics, Geometry, and Semantics	2509.07500
WeI2I.5	NaturalVLM: Leveraging Fine-Grained Natural Language for Affordance-Guided Visual Manipulation	2403.08355

Manipulation planning & TAMP (50) — see Manipulation planning & TAMP

Code	Title	arXiv
ThAT1.6	Robust Task Planning via Failure Detection Using Scene Graph from Multi-View Images
ThBT2.7	Learning Problem Decomposition for Efficient Sequential Multi-Object Manipulation Planning	2408.06843
ThI1I.242	Find the Fruit: Zero-Shot Sim2Real RL for Occlusion-Aware Plant Manipulation	2505.16547
ThI1I.29	Tidiness Score-Guided Monte Carlo Tree Search for Visual Tabletop Rearrangement	2502.17235
ThI1I.358	A Closed-Chain Approach to Generating Affordance Joint Trajectories for Robotic Manipulators
ThI1I.397	Whole-Body Integrated Motion Planning for Aerial Manipulators	2501.06493
ThI1I.72	Not Throwing Away My Shot: Planning Ahead with Dual Subgoals in Long-Horizon Robot Manipulation Tasks
ThI1I.86	Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation	2603.02623
ThI2I.132	Seeing Farther and Smarter: Value-Guided Multi-Path Reflection for VLM Policy Optimization	2602.19372
ThI2I.175	The iMETRO Dynamic Simulation: An Open-Source Simulator for Intravehicular Space Robotics Research
ThI2I.183	Accelerated Multi-Modal Motion Planning Using Context-Conditioned Diffusion Models (CAMPD)	2510.14615
ThI2I.295	A Contact-Driven Framework for Manipulating in the Blind	2510.20177
ThI2I.300	GeoFIK: A Fast and Reliable Geometric Solver for the IK of the Franka Arm Based on Screw Theory	2503.03992
ThI2I.54	Distracted Robot: How Visual Clutter Undermine Robotic Manipulation	2511.22780
ThI2I.63	CAPE: Context-Aware Diffusion Policy via Proximal Mode Expansion for Collision Avoidance	2511.22773
TuAT3.4	DYMO-Hair: Generalizable Volumetric Dynamics Modeling for Robot Hair Manipulation	2510.06199
TuI1I.114	From CAD to POMDP: Probabilistic Planning for Robotic Disassembly of End-Of-Life Products	2511.23407
TuI1I.126	Planning Using Belief Summaries for Goal-Directed Manipulation of Articulated Objects with Force and Proprioception
TuI1I.211	Pack It In: Packing into Partially Filled Containers through Contact	2602.12095
TuI1I.244	Safety-Critical Dynamic Motion Generation for Manipulators Using Differentiable Distance Fields in Configuration Space	2412.16456
TuI1I.298	ConsistencyPlanner: Real-Time Planning with Fast-Sampling Consistency Models
TuI1I.415	TARAD: Task-Aware Robot Affordance-Centric Diffusion Policy Learned from LLM-Generated Demonstrations
TuI1I.47	KAN Policy: Learning Efficient and Smooth Robotic Trajectories via Kolmogorov-Arnold Networks
TuI2I.105	MO-SeGMan: Rearrangement Planning Framework for Multi-Objective Sequential and Guided Manipulation in Constrained Environments	2511.01476
TuI2I.12	Robust and Error-Tolerant Peg-In-Hole Assembly Using Simple Control
TuI2I.142	Learning Composable Skills by Discovering Spatial and Temporal Structure with Foundation Models (STACK)
TuI2I.143	Enhancing Classical Motion Planners Using RL with Safety Guarantees	2403.18524
TuI2I.15	H-MaP: An Iterative and Hybrid Sequential Manipulation Planner	2403.10436
TuI2I.201	DynDLO: Learning-Based Trajectory Planning for Dynamic Robotic Manipulation of Deformable Linear Objects
TuI2I.272	Run-Time Optimization of Overall Energy Consumption in Lightweight Collaborative Arms for Repetitive Tasks
TuI2I.303	Learning to Drive by Imitating Surrounding Vehicles	2503.05997
TuI2I.407	A Differential Dynamic Programming Framework for Inverse Reinforcement Learning	2407.19902
TuI2I.88	Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance	2506.03362
WeBT1.8	SymSkill: Symbol and Skill Co-Invention for Data-Efficient and Reactive Long-Horizon Manipulation	2510.01661
WeBT2.2	Human2Nav: Learning Crowd Navigation from Human Videos across Robots via Feasibility-Guided Flow Matching
WeBT2.4	Shifted Flow Policy: Uncertainty-Aware Time Reparameterization for Visuomotor Learning
WeBT2.5	Closed-Loop Action Chunks with Dynamic Corrections for Training-Free Diffusion Policy (DCDP)	2603.01953
WeI1I.124	Placeit! A Framework for Learning Robot Object Placement Skills	2510.09267
WeI1I.179	Task Generalization with Pathwise Conditioning of Gaussian Process for Learning from Demonstration
WeI1I.187	Optimal Dexterity Path Planning for Robotic Manipulators Using Rapid Workspace Density Approximation
WeI1I.221	3DFacePolicy: Speech-Driven 3D Facial Animation Based on Diffusion Policy	2409.10848
WeI1I.256	MOASIC: Skill-Centric Manipulation Planning with Physics Simulation	2504.16738
WeI1I.339	AORRTC: Almost-Surely Asymptotically Optimal Planning with RRT-Connect	2505.10542
WeI1I.64	IMPACT: Intelligent Motion Planning with Acceptable Contact Trajectories via Vision-Language Models	2503.10110
WeI1I.68	Global Tensor Motion Planning	2411.19393
WeI2I.116	MetaDP: Meta-Manipulation Diffusion Policy for Robotic Manipulation
WeI2I.159	Manual2Skill++: Connector-Aware General Robotic Assembly from Instruction Manuals via Vision–Language Models	2510.16344
WeI2I.184	AdaptPNP: Integrating Prehensile and Non-Prehensile Skills for Adaptive Robotic Manipulation	2511.11052
WeI2I.259	Screw Geometry Meets Bandits: Incremental Acquisition of Demonstrations to Generate Manipulation Plans	2410.18275
WeI2I.300	GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion	2604.09993

Diffusion & flow-matching policies (46) — see Diffusion & flow-matching policies

Code	Title	arXiv
ThBT2.9	Factorizing Diffusion Policies for Observation Modality Prioritization	2509.16830
ThI1I.11	Motion before Action: Diffusing Object Motion As Manipulation Condition	2411.09658
ThI1I.127	Compose by Focus: Scene Graph-Based Atomic Skills	2509.16053
ThI1I.136	MIMIC-D: Multi-Modal Imitation for Multi-Agent Coordination with Decentralized Diffusion Policies	2509.14159
ThI1I.257	Conditional Flow-VAE for Safety-Critical Traffic Scenario Generation	2605.04366
ThI1I.282	PPGuide: Steering Diffusion Policies with Performance Predictive Guidance	2603.10980
ThI1I.285	Prepare before You Act: Learning from Humans to Rearrange Initial States	2509.18043
ThI1I.367	S²-Diffusion: Generalizing from Instance-Level to Category-Level Skills in Robot Manipulation	2502.09389
ThI1I.379	Mini Diffuser: Fast Multi-Task Diffusion Policy Training Using Two-Level Mini-Batches	2505.09430
ThI1I.58	RoboMatch: A Unified Mobile-Manipulation Teleoperation Platform with Auto-Matching Network Architecture for Long-Horizon Tasks	2509.08522
ThI1I.63	DynaFlow: Dynamics-Embedded Flow Matching for Physically Consistent Motion Generation from State-Only Demonstrations	2509.19804
ThI1I.88	Physically-Based Lighting Generation for Robotic Manipulation	2508.01442
ThI2I.122	HITL-D: Human in the Loop Diffusion Assisted Shared Control	2605.21460
ThI2I.161	DA-MMP: Learning Coordinated and Accurate Throwing with Dynamics-Aware Motion Manifold Primitives	2509.23721
ThI2I.262	WorldPlanner: Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models	2511.03077
ThI2I.281	X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations	2511.04671
ThI2I.311	Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations	2503.01252
ThI2I.71	SafeFlowMPC: Predictive and Safe Trajectory Planning for Robot Manipulators with Learning-Based Policies	2602.12794
ThI2LB.10	Diffusion Policy for Robot-Assisted Dressing with Moving Human Arms
TuAT1.1	GRITS: A Spillage-Aware Guided Diffusion Policy for Robot Food Scooping Tasks	2510.00573
TuAT1.4	Do You Know Where Your Camera Is? View-Invariant Policy Learning with Camera Conditioning	2510.02268
TuBT1.2	Uncertainty Comes for Free: Human-In-The-Loop Policies with Diffusion Models	2503.01876
TuI1I.104	Scaling Single Human Demonstrations for Imitation Learning Using Generative Foundational Models	2602.12734
TuI1I.170	Joint Flow Trajectory Optimization for Feasible Robot Motion Generation from Video Demonstrations	2509.20703
TuI1I.191	From Demonstrations to Safe Deployment: Path-Consistent Safety Filtering for Diffusion Policies	2511.06385
TuI1I.215	FUNCanon: Learning Pose-Aware Action Primitives Via Functional Object Canonicalization for Generalizable Robotic Manipulation	2509.19102
TuI1I.259	Physics-Informed Diffusion Mamba Transformer for Real-World Driving	2602.00808
TuI1I.299	Ventura: Adapting Image Diffusion Models for Unified Task Conditioned Navigation	2510.01388
TuI1I.63	Latent Action Diffusion for Cross-Embodiment Manipulation	2506.14608
TuI1I.78	Seeing Motion, Generating Action: Explicit Motion-Aware Policy for Robotic Action Generation
TuI2I.158	MAKP: Multi-Mode Accurate Kicking Policy for Humanoid Robots
TuI2I.160	NavDP: Learning Sim-To-Real Navigation Diffusion Policy with Privileged Information Guidance	2505.08712
TuI2I.45	Inference-Stage Adaptation-Projection Strategy Adapts Diffusion Policy to Cross-Manipulators Scenarios	2509.11621
TuI2I.63	SCOOP'D: Learning Mixed-Liquid-Solid Scooping Via Sim2Real Generative Policy	2510.11566
WeBT2.3	Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learning	2507.05695
WeI1I.114	Unified Humanoid Fall-Safety Policy from a Few Demonstrations	2511.07407
WeI1I.153	MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery	2511.05007
WeI1I.192	DRAW2ACT: Turning Depth-Encoded Trajectories into Robotic Demonstration Videos	2512.14217
WeI1I.211	ADM-DP: Adaptive Dynamic Modality Diffusion Policy through Vision-Tactile-Graph Fusion for Multi-Agent Manipulation	2602.21622
WeI1I.222	Masquerade: Learning from In-The-Wild Human Videos Using Data-Editing	2508.09976
WeI1I.23	DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting	2406.09767
WeI1I.27	Motion Manifold Flow Primitives for Task-Conditioned Trajectory Generation under Complex Task-Motion Dependencies	2407.19681
WeI2I.132	Disentangled Point Diffusion for Precise Object Placement
WeI2I.299	SeFA-Policy: Fast and Accurate Visuomotor Policy Learning with Selective Flow Alignment	2511.08583
WeI2I.311	Physically-Grounded Data Generation Via Video Diffusion Models
WeI2I.340	Diffusion Trajectory-Guided Policy for Long-Horizon Robot Manipulation	2502.10040

Imitation learning & LfD (116) — see Imitation learning & LfD

Code	Title	arXiv
ThAT1.4	The One RING: A Robotic Indoor Navigation Generalist	2412.14401
ThBT2.3	SCIZOR: A Self-Supervised Approach to Data Curation for Large-Scale Imitation Learning	2505.22626
ThI1I.122	One-Shot Cross-Geometry Skill Transfer through Part Decomposition	2604.15455
ThI1I.17	BOSS: Benchmark for Observation Space Shift in Long-Horizon Task	2502.15679
ThI1I.192	MOVE: A Simple Motion-Based Data Collection Paradigm for Spatial Generalization in Robotic Manipulation	2512.04813
ThI1I.201	Teaching to Individual Needs: Bidirectional Teacher-Student Learning for Wheeled-Legged Locomotion
ThI1I.202	CAPS: Context-Aware Priority Sampling for Enhanced Imitation Learning in Autonomous Driving	2503.01650
ThI1I.203	Data-Efficient Hierarchical Goal-Conditioned Reinforcement Learning Via Normalizing Flows	2602.11142
ThI1I.214	Generative Adversarial Imitation Learning for Robot Swarms: Learning from Human Demonstrations and Trained Policies	2603.02783
ThI1I.238	COBALT: Crowdsourcing Robot Learning Via Cloud-Based Teleoperation with Smartphones
ThI1I.273	SafeDMPs: Integrating Formal Safety with DMPs for Adaptive HRI	2603.29708
ThI1I.299	Rainbow-DemoRL: Combining Improvements in Demonstration-Augmented Reinforcement Learning	2603.27400
ThI1I.31	Differentiable Motion Manifold Primitives for Reactive Motion Generation under Kinodynamic Constraints	2410.12193
ThI1I.323	AutoFocus-IL: VLM-Based Saliency Maps for Data-Efficient Visual Imitation Learning without Extra Human Annotations	2511.18617
ThI1I.326	Learning Sidewalk Autopilot from Multi-Scale Imitation with Corrective Behavior Expansion	2603.22527
ThI1I.435	A Taxonomy for Evaluating Generalist Robot Manipulation Policies	2503.01238
ThI1I.94	GRAPE: Generalizing Robot Policy Via Preference Alignment	2411.19309
ThI2I.123	Learning Neural Control Barrier Functions from Expert Demonstrations Using Inverse Constraint Learning	2510.21560
ThI2I.142	KiRAS: Keyframe Guided Self-Imitation for Robust and Adaptive Skill Learning in Quadruped Robots	2603.15179
ThI2I.153	Quality Over Quantity: Demonstration Curation Via Influence Functions for Data-Centric Robot Learning	2603.09056
ThI2I.158	ABPolicy: Asynchronous B-Spline Flow Policy for Real-Time and Smooth Robotic Manipulation	2602.23901
ThI2I.160	Real-Time Robotic Needle Insertion in Deformable and Moving Structure Using Learning-By-Example Method
ThI2I.162	The Curse of Precision: A Data Scaling Law for High-Precision Robotic Manipulation
ThI2I.170	A Computationally Efficient Nonparametric Approach for Robot Imitation Learning
ThI2I.188	UltraHiT: A Hierarchical Transformer Architecture for Generalizable Internal Carotid Artery Robotic Ultrasonography	2509.13832
ThI2I.202	Narrate2Nav: Real-Time Visual Navigation with Implicit Language Reasoning in Human-Centric Environments	2506.14233
ThI2I.233	Masked IRL: LLM-Guided Reward Disambiguation from Demonstrations and Language	2511.14565
ThI2I.234	Using Non-Expert Data to Robustify Imitation Learning Via Offline Reinforcement Learning	2510.19495
ThI2I.240	Flip Stunts on Bicycle Robots Using Iterative Motion Imitation	2603.27944
ThI2I.259	Data Scaling Laws for Imitation Learning-Based End-To-End Autonomous Driving	2412.02689
ThI2I.280	ECAHD: Efficient Collision-Aware Hierarchical Diffusion Navigation
ThI2I.283	Cross-Embodiment Transfer Via Behavior-Aligned Representations
ThI2I.348	A Soft-Rigid Hybrid Robot-Assisted Feeding System with a Tendon-Driven Continuum Robot
ThI2I.353	ILCL: Inverse Logic-Constraint Learning from Temporally Constrained Demonstrations	2507.11000
ThI2I.404	Cross-Embodiment Imitation: Learning a Unified Latent Space for Multi-Robot Control	2601.15419
ThI2I.410	STAGE: STyle-Controllable Action GEneration for Personalized Autonomous Driving
ThI2I.418	Behavior-Controllable Stable Dynamics Models on Riemannian Configuration Manifolds
ThI2I.56	Real-Is-Sim: Bridging the Sim-To-Real Gap with a Dynamic Digital Twin	2504.03597
ThI2I.60	Fast ECoT: Efficient Embodied Chain-Of-Thought Via Thoughts Reuse	2506.07639
ThI2I.98	ViSA-Flow: Accelerating Robot Skill Learning Via Large-Scale Video Semantic Action Flow	2505.01288
TuBT3.5	Learning Location-Specific Latent Behavior Priors for Occupancy Prediction in Automated Driving
TuI1I.108	Training Humans to Teach Robots: Large and Lasting Skill Gains
TuI1I.120	Behavior Foundation Model for Humanoid Robots	2509.13780
TuI1I.134	SOE: Sample-Efficient Robot Policy Self-Improvement Via On-Manifold Exploration	2509.19292
TuI1I.146	From Dream to Action: Hierarchical Policy Learning with 3D World Imagination for Robotic Manipulation
TuI1I.150	CLAR: Learning 3D Representations for Robotic Manipulation by Fusing Masked Reconstruction with Multi-Level Contrastive Alignment
TuI1I.239	AVR: Active Vision-Driven Precise Robot Manipulation with Viewpoint and Focal Length Optimization	2503.01439
TuI1I.250	Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale	2509.14932
TuI1I.322	Learning Dynamical System-Based Robot Motions from Demonstrations Via ODE-Driven Diffeomorphic Mappings
TuI1I.327	MolmoAct: Action Reasoning Models That Can Reason in Space	2508.07917
TuI1I.333	Learning Constraint-Aware Dynamical Systems from Human Demonstrations for Constrained Manipulation Tasks
TuI1I.336	LLM Trainer: Automated Robotic Data Generating Via Demonstration Augmentation Using LLMs	2509.20070
TuI1I.363	Task-Parameterized Motion Learning with Time-Sensitive Constraints	2312.03506
TuI1I.410	Safe and Stable Neural Network Dynamical Systems for Robot Motion Planning	2511.20593
TuI1I.72	T2S: Tokenized Skill Scaling for Lifelong Imitation Learning	2508.01167
TuI1I.75	CoPlanner: An Interactive Motion Planner with Contingency-Aware Diffusion for Autonomous Driving	2509.17080
TuI1I.98	A Passivity-Based Framework for Dynamic Arbitration between Trajectory and Force Tracking Using Human Demonstration
TuI1LB.2	Learning Contact Tasks Skills Based on DMP and Affordance Templates
TuI1LB.3	Learning Traversability Cost Maps with Decomposed Uncertainties Via Continuous-State MEDIRL
TuI2I.102	SPREAD: Subspace Representation Distillation for Lifelong Imitation Learning	2603.08763
TuI2I.118	Learning Quadruped Walking from Seconds of Demonstration	2603.06961
TuI2I.139	Viper: Verifiable Imitation Learning Policy for Efficient Robotic Manipulation
TuI2I.145	D-CLING: Prior-Preserving Depth-Conditioned Fine-Tuning for Navigation Foundation Models
TuI2I.168	History-Aware Visuomotor Policy Learning Via Point Tracking	2509.17141
TuI2I.195	MLA: A Multisensory Language–Action Model for Multimodal Understanding and Forecasting in Robotic Manipulation	2509.26642
TuI2I.259	EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations	2511.00153
TuI2I.270	Unlocking the Potential of Soft Actor-Critic for Imitation Learning	2509.24539
TuI2I.280	RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting	2604.21355
TuI2I.286	AMPLIFY: Actionless Motion Priors for Robot Learning from Videos	2506.14198
TuI2I.3	RAMPA: Robotic Augmented Reality for Machine Programming by DemonstrAtion	2410.13412
TuI2I.328	Quasimetric Decision Transformers: Enhancing Goal-Conditioned Reinforcement Learning with Structured Distance Guidance
TuI2I.332	NavGSim: High-Fidelity Gaussian Splatting Simulator for Large-Scale Navigation	2603.15186
TuI2I.348	MTIL: Encoding Full History with Mamba for Temporal Imitation Learning	2505.12410
TuI2I.358	An Alignment-Based Approach to Learning Motions from Demonstrations	2511.14988
TuI2I.367	Efficient Learning of Object Placement with Intra-Category Transfer	2411.03408
TuI2I.38	Playbook: Scalable Discrete Skill Discovery from Unstructured Datasets for Long-Horizon Decision-Making Problems
TuI2I.388	Mimir: Hierarchical Goal-Driven Diffusion with Uncertainty Propagation for End-To-End Autonomous Driving	2512.07130
TuI2I.53	Flow-Enabled Generalization to Human Demonstrations in Few-Shot Imitation Learning	2602.10594
TuI2I.72	Perfect Prediction or Plenty of Proposals? What Matters Most in Planning for Autonomous Driving	2510.15505
TuI2LB.10	Hierarchical Grid-Based Sensor Pose Extraction for Demonstration Dataset Generation
TuI2LB.24	Learning from Demonstrations Over Riemannian Manifolds Using Neural ODEs
WeAT2.2	Breaking the Latency Barrier: Synergistic Perception and Control for High-Frequency 3D Ultrasound Servoing	2511.00983
WeBT2.7	Better Than Diverse Demonstrators: Reward Decomposition from Suboptimal and Heterogeneous Demonstrations
WeBT3.1	TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System	2511.02832
WeBT3.3	MimicDroid: In-Context Learning for Humanoid Robot Manipulation from Human Play Videos	2509.09769
WeI1I.134	Robust Online Residual Refinement Via Koopman-Guided Dynamics Modeling	2509.12562
WeI1I.199	Task Robustness Via Re-Labelling Vision-Action Robot Data
WeI1I.218	Unsupervised Domain Adaptation for Robust Imitation Learning under Visual Perturbations
WeI1I.231	Overcoming Imperfect Kinematics in Surgical Robotics through Sim-To-Real Visuomotor Learning
WeI1I.235	Adaptive Motion Priors with Constrained Optimization
WeI1I.279	PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation Policies	2509.18282
WeI1I.286	Beyond the Majority: Long-Tail Imitation Learning for Robotic Manipulation	2602.06512
WeI1I.30	Dynamic Movement Primitives with Control Barrier Functions for Constrained Trajectory Planning
WeI1I.358	Riemannian Time Warping: Multiple Sequence Alignment in Curved Spaces	2506.01635
WeI1I.380	Spline-FRIDA: Towards Diverse, Humanlike Robot Painting Styles with a Sample-Efficient, Differentiable Brush Stroke Model	2412.00597
WeI1I.424	Sequentially Teaching Sequential Tasks (ST)²: Teaching Robots Long-Horizon Manipulation Skills	2510.21046
WeI1I.45	Learning Multiple Initial Solutions to Optimization Problems	2411.02158
WeI1I.61	The Temporal Trap: Entanglement in Pre-Trained Visual Representations for Visuomotor Policy Learning	2502.03270
WeI1I.71	R2BC: Multi-Agent Imitation Learning from Single-Agent Demonstrations	2510.18085
WeI1I.74	Synthetic vs. Real Training Data for Visual Navigation	2509.11791
WeI1I.96	MotionTrans: Human VR Data Enable Motion-Level Learning for Robotic Manipulation Policies	2509.17759
WeI1LB.19	TeNet: Text-To-Network for Compact Policy Synthesis	2601.15912
WeI2I.115	EDAIL: Adversarial Imitation Learning Via Exploration-Driven Data Augmentation
WeI2I.133	Learning Social Navigation from Positive and Negative Demonstrations and Rule-Based Specifications	2510.12215
WeI2I.172	Failure Identification in Imitation Learning Via Statistical and Semantic Filtering	2604.13788
WeI2I.182	HAND Me the Data: Fast Robot Adaptation Via Hand Path Retrieval	2505.20455
WeI2I.193	EasyMimic: A Low-Cost Framework for Robot Imitation Learning from Human Videos	2602.11464
WeI2I.21	Spatio-Temporal Motion Retargeting for Quadruped Robots	2404.11557
WeI2I.27	From Movement Primitives to Distance Fields to Dynamical Systems	2504.09705
WeI2I.276	ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations	2510.01607
WeI2I.291	Beyond the Teacher: Leveraging Mixed-Skill Demonstrations for Robust Imitation Learning
WeI2I.294	Cross-Modal Instructions for Robot Motion Generation	2509.21107
WeI2I.305	SoftMimicGen: A Data Generation System for Scalable Robot Learning in Deformable Object Manipulation	2603.25725
WeI2I.383	Real-Time Generation of Near-Minimum-Energy Trajectories Via Constraint-Informed Residual Learning	2501.09450
WeI2I.438	Toward Efficient and Robust Behavior Models for Multi-Agent Driving Simulation	2512.05812
WeI2I.439	Imitation-BT: Automating Behavior Tree Generation by Echoing Reinforcement Learning Agents

RL · datasets · sim · representation (39) — see RL · datasets · sim · representation

Code	Title	arXiv
ThBT2.2	Dense-Jump Flow Matching with Non-Uniform Time Scheduling for Robotic Policies: Mitigating Multi-Step Inference Degradation	2509.13574
ThI1I.109	Reference-Free Sampling-Based Model Predictive Control	2511.19204
ThI1I.302	Phys2Real: Fusing VLM Priors with Interactive Online Adaptation for Uncertainty-Aware Sim-To-Real Manipulation	2510.11689
ThI1I.340	SAGrid: Scaling Robot Simulation through Automatic Affordance Annotation on In-The-Wild 3D Assets
ThI1I.363	MLLM-Fabric: Multimodal Large Language Model-Driven Robotic Framework for Fabric Sorting and Selection	2507.04351
ThI2I.189	Impact-Robust Posture Optimization for Aerial Manipulation	2602.13762
ThI2I.269	Learning Collision-Free Object Goal Pushing for Quadruped Robots with Safe Corridors
ThI2I.306	LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios	2604.22363
ThI2I.356	The Challenges of Using Robots to Automate the Recycling of Electronic Devices
ThI2I.75	I-FailSense: Towards General Robotic Failure Detection with Vision-Language Models	2509.16072
ThI2I.86	Re³Sim: Generating High-Fidelity Simulation Data Via 3D-Photorealistic Real-To-Sim for Robotic Manipulation	2502.08645
TuAT1.2	Hierarchical DLO Routing with Reinforcement Learning and In-Context Vision-Language Models	2510.19268
TuI1I.196	Learning Push-Grasp Synergy for Occluded Objects in Cluttered Environments
TuI1I.222	SHaRe-RL: Structured, Interactive Reinforcement Learning for Contact-Rich Industrial Assembly Tasks	2509.13949
TuI1I.46	Learning to Design Soft Hands Using Reward Models	2510.17086
TuI1I.87	Shell-Type Soft Jig for Holding Objects During Disassembly	2509.13802
TuI1LB.17	ManiMorph: Object Representations in Robot Manipulators Morphology for Improving Multi-Task Manipulation Performance
TuI2I.125	Robotic Cell Manipulation at the Solid-Liquid Interface for Cryopreservation
TuI2I.153	Integrated Hydrogel Patterning and Dynamic Microparticle Manipulation Using Optoelectronic Tweezers
TuI2I.199	Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control	2506.17184
TuI2I.22	Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots	2503.14656
TuI2I.268	Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning	2509.13534
TuI2I.274	AnchorDream: Repurposing Video Diffusion for Embodiment-Aware Robot Data Synthesis	2512.11797
TuI2I.331	Failure-Aware RL: Reliable Offline-To-Online Reinforcement Learning with Self-Recovery for Real-World Manipulation	2601.07821
TuI2I.374	Controlling Deformable Objects with Non-Negligible Dynamics: A Shape-Regulation Approach to End-Point Positioning	2402.16114
WeAT1.4	OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction	2509.26633
WeI1I.294	Moving On, Even When You're Broken: Fail-Active Trajectory Generation Via Diffusion Policies Conditioned on Embodiment and Task (DEFT)	2602.02895
WeI1I.329	The Translational/Rotational Piezoelectric Impact Drive Mechanism for Cell/Tissue Extraction from Mouse Cranial Window
WeI1I.394	Neuromorphic Event Camera-Based Object Recognition and Grasping Position Detection Using a Transfer Learning-Enhanced Multi-Task Model
WeI1I.403	FlowDreamer: A RGB-D World Model with Flow-Based Motion Representations for Robot Manipulation	2505.10075
WeI2I.130	ATA: Bridging Implicit Reasoning with Attention-Guided and Action-Guided Inference for Vision-Language Action Models	2603.01490
WeI2I.137	RM-RL: Role-Model Reinforcement Learning for Precise Robot Manipulation	2510.15189
WeI2I.178	IntentionVLA: Generalizable and Efficient Embodied Intention Reasoning for Human–Robot Interaction	2510.07778
WeI2I.209	RoboSQ: Semantic Queries for Task-Aligned Robot Training Data
WeI2I.219	CASSR: Continuous A-Star Search through Reachability for Real Time Footstep Planning	2603.02989
WeI2I.257	Magnetic-Acoustic Microbubble Microrobot for Targeted Mechanical Stimulation of Cancer Cells
WeI2I.38	Denoising Particle Filters: Learning State Estimation with Single-Step Objectives	2602.19651
WeI2I.387	Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots	2506.07823
WeI2I.39	GraspClutter6D: A Large-Scale Real-World Dataset for Robust Perception and Grasping in Cluttered Scenes	2504.06866

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