Robot Manipulation and Learning

Neueste Paper

• Dexterous Point Policy: Learning Point-based Dexterous Hand Policies from Human Demonstrations

  Beomjun Kim, Seong Hyeon Park, Seunghoon Sim, Seungjun Moon, Sanghyeok Lee, Jinwoo Shin · 10. Juni 2026

  Robotic foundation models pre-trained on human demonstration videos have shown promise, but a significant embodiment gap remains when the resulting policies are deployed on real robots. A common remedy is to fine-tune these models on robot-specific demonstrations. However, robot data collection can …

• YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale

  Takehiko Ohkawa, Jumpei Arima, Yuki Noguchi, Masatoshi Tateno, Makoto Sugiura, Takuya Okubo, Kengo Ikeuchi, Yuma Shin, Hiroki Nishizawa, Naoaki Kanazawa, Yuki Wakayama, Daiki Fukunaga, Koshi Makihara, Tomohiro Motoda, Floris Erich, Yukiyasu Domae, Tatsuya Matsushima, Yohishiro Okumatsu, Kei Ota · 10. Juni 2026

  We introduce Yielding Universal Bidigital Interface (YUBI), a finger-aligned gripper designed to enable intuitive, ergonomic, and scalable data collection for bimanual dexterous manipulation. While handheld data collection systems such as Universal Manipulation Interface (UMI) enable affordable data…

• GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation

  Sriram Krishna, Ben Eisner, Haotian Zhan, Ying Yuan, Haoyu Zhen, Chuang Gan, Shubham Tulsiani, David Held · 10. Juni 2026

  We present GHOST, a framework for learning visuomotor manipulation policies that generalize beyond the training distribution. GHOST factorizes control into (i) a high-level policy that predicts the next sub-goal as a distribution over 3D end-effector poses from multi-view RGB-D observations, and (ii…

• UniDexTok: A Unified Dexterous Hand Tokenizer from Real Data

  Dong Fang, Youjun Wu, Yuanxin Zhong, Rui Zhang, Yunlong Wang, Xiaosong Jia, Yu-Gang Jiang · 10. Juni 2026

  Dexterous hands are essential for fine-grained manipulation, but their hardware designs vary substantially across embodiments. Differences in kinematics, joint definitions, and degrees of freedom make it difficult to define a shared state representation compared with parallel grippers. As a result, …

• EgoAERO: Learning Dexterous Manipulation from a Single Egocentric Video without Object Assets

  Yichen Niu, Haoran Lv, Xinrui Zhang, Xueyao Wan, Shiyu Gao, Ying Ai, Hui Xu, Yongqi Hu, Hengyi Zhang, Yang Xie, Zhaxizhuoma, Yue Zhao, Zhenshan Bing, Yan Ding, Jianxing Liu · 9. Juni 2026

  Egocentric RGB-D videos offer a natural source of human dexterous manipulation demonstrations, but existing data is difficult to use for robot learning because object pose, geometry, and contact information are often missing or require pre-scanned object assets. We present EgoAERO, the first framewo…

• Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation

  Zhexuan Zhou, Yichen Lai, Jinhao Zhang, Huizhe Li, Youmin Gong, Jie Mei · 9. Juni 2026

  Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process. The resulting velocity field must simultaneously encode scene information and generate precise trajectories, increasing learning comp…

• EgoTactile: Learning Grasp Pressure for Everyday Objects from Egocentric Video

  Yuan Zeng, Yujia Shi, Tiao Tan, Xingting Li, Yaqi Qin, Zongqing Lu, Wenming Yang, Jing-Hao Xue, Qingmin Liao · 9. Juni 2026

  Estimating full-hand grasp pressure from egocentric video is critical for immersive VR and robotic manipulation, yet dense tactile sensing often relies on intrusive hardware. Existing vision-based methods predominantly rely on planar surfaces or fingertip contacts, failing to generalize to complex 3…

• Continual Quadruped Robots Coordination via Semantic Skill Discovery

  Daoqing Wang, Yuchen Xiao, Weixuan Huang, Zhilong Zhang, Shenghua Wan, Meng Li, Lei Yuan, Yang Yu · 9. Juni 2026

  Multi-quadruped coordination has attracted increasing attention due to its enhanced payload capacity, broader contact coverage, and improved adaptability to challenging tasks. Existing methods for multi-quadruped manipulation typically focus on predefined or closed task families, often relying on mu…

• GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation

  Yuan Zhang, Shiqi Zhang, Yedong Shen, Shuai Dong, Jiajun Deng, Xin Zhang, Yuxuan Gao, Jiajia Wu, Xin Nie, Zhiyuan Cheng, Jianmin Ji, Yanyong Zhang, Xingyi Zhang, Jia Pan · 9. Juni 2026

  Vision-Language-Action (VLA) models achieve strong benchmark performance but still struggle in real-world deployment with unseen objects, background shifts, and different robot embodiments. We argue that this stems from the lack of a unified geometry-aware manipulation representation, leaving existi…

• PACT: Self-Evolving Physical Safety Alignment for Diffusion Policies in Embodied Manipulation

  Lingxuan Wu, Zijian Zhu, Lizhong Wang, Chengyang Ying, Huayu Chen, Xiao Yang, Fangming Liu, Jun Zhu · 9. Juni 2026

  Diffusion policies have achieved remarkable success in robotic manipulation, yet they often fail to satisfy strict physical constraints required for safe deployment. Existing approaches impose safety either prematurely during training or reactively via external guardrails at test time, limiting poli…

• RAM: Reachability Across Morphologies

  Tim Walter, Xinyu Chen, Jonathan K\"ulz, Matthias Althoff · 9. Juni 2026

  Many stages of the robotic lifecycle, from morphology synthesis to operation, rely fundamentally on the reachable workspace. However, current methods for approximating workspaces are slow, imprecise, or tied to a single morphology. We introduce Reachability Across Morphologies (RAM): a morphology-co…

• AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation

  Jiyun Jang, Yujin Sung, Woosung Joung, Daewon Chae, Sangwon Lee, Sohwi Kim, Jinkyu Kim, Jungbeom Lee · 8. Juni 2026

  Visuomotor manipulation policies trained via large-scale behavior cloning have achieved strong semantic scene understanding, yet often fail to reliably execute correct low-level actions under distribution shifts. For example, even in a simple pickup task with identical scene layouts, camera viewpoin…

• Robotic Policy Adaptation via Weight-Space Meta-Learning

  Christian Bianchi, Siamak Yousefi, Alessio Sampieri, Andrea Roberti, Luca Rigazio, Fabio Galasso, Luca Franco · 8. Juni 2026

  Vision-Language-Action (VLA) models are emerging as a promising paradigm for robotic manipulation, enabling general-purpose policies trained from large corpora of demonstrations and action labels. However, adapting these models to new tasks still typically requires task-specific demonstrations, acti…

• What Matters When Cotraining Robot Manipulation Policies on Everyday Human Videos?

  Richard Li, Aditya Prakash, Andrew Wen, Saurabh Gupta, Yilun Du, Pulkit Agrawal · 8. Juni 2026

  Human video datasets used for cotraining robot manipulation policies largely consist of curated demonstrations where motions are orchestrated to resemble robot behavior and 3D hand poses are captured with specialized hardware. A more plentiful source of data is everyday Internet video, but it is an …

• TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation

  Dongwon Son, Florian Shkurti, Jason Lee, Naman Shah, Beomjoon Kim, Dieter Fox · 5. Juni 2026

  A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robot. In contact-rich, dynamic manipulation, even small motion discrepancies can result in failure to track reference motio…

• TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies

  Dong Jing, Jingchen Nie, Tianqi Zhang, Jiaqi Liu, Huaxiu Yao, Zhiwu Lu, Mingyu Ding · 5. Juni 2026

  Robot manipulation alternates between low-risk transit phases that call for fast execution and high-risk contact stages that demand slow, precise motion. Yet existing Vision-Language-Action models (VLAs) only inherit a single fixed speed from training demonstrations. Prior efforts to accelerate VLAs…

• PointAction: 3D Points as Universal Action Representations for Robot Control

  Mutian Tong, Han Jiang, Qiao Feng, Lingjie Liu, Jiatao Gu · 4. Juni 2026

  Video-Action Models (VAMs) leverage the broad visual dynamics captured by pre-trained video diffusion models, offering a promising path toward generalizable robot manipulation. However, RGB-only video rollouts are not directly actionable: they leave metric 3D motion, contact geometry, and fine-grain…

• Instant-Fold: In-Context Imitation Learning for Deformable Object Manipulation

  Yilong Wang, Cheng Qian, Edward Johns · 4. Juni 2026

  Deformable object manipulation (DOM) is challenging due to high-dimensional, partially observable states that evolve through long-horizon, topology-changing interactions with multiple valid manipulation modes. We introduce Instant-Fold, an in-context imitation learning framework for DOM. Given a sin…

• VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI data for VLA Training

  Siyuan Yang, Linzheng Guo, Ouyang Lu, Zhaxizhuoma, Daoran Zhang, Xinmiao Wang, Ting Xiao, Fangzheng Yan, Zhijun Chen, Yan Ding, Chao Yu, Chenjia Bai, Xuelong Li · 4. Juni 2026

  Universal Manipulation Interface (UMI) enables scalable real-world robot data collection without hardware-specific teleoperation, yet leveraging UMI data to train large-scale Vision-Language-Action (VLA) models remains fundamentally challenging. We identify two critical mismatches: wrist-mounted fis…

• ContactExplorer: Contact Coverage-Guided Exploration for General-Purpose Dexterous Manipulation

  Zixuan Liu, Ruoyi Qiao, Chenrui Tie, Xuanwei Liu, Yunfan Lou, Chongkai Gao, Zhixuan Xu, Lin Shao · 4. Juni 2026

  Reinforcement learning has achieved remarkable success in domains such as Atari games, navigation, and locomotion, where exploration can often be guided by novelty over states or dynamics. In contrast, dexterous manipulation requires rich physical hand--object interactions, but existing methods ofte…

• How Visible Are Silent Manipulation Failures? An Observability Study of False-Success Detection in Simulated Robot Episodes

  Aarav Bedi (University of California, Berkeley) · 3. Juni 2026

  Imitation-learning policies for robot manipulation inherit the quality of the success labels attached to their training episodes, and those labels are usually produced by the robot's own success check. A particularly damaging error is the false success: an episode the robot logs as a success when th…

• Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation

  Jiahao Xu, Peiyuan Wang, Hanzhuo Zhang, Zihao Yu, Tianyu Fu, Hao Chen, Xuanhao Xiang, Jianbo Yu, Chenchen Fu, Wanyuan Wang · 3. Juni 2026

  In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable efficient long-horizon manipulation, we propose GTP-FA (Grasp-Then-Plan with Failure Attribution), a task-oriented two-stage g…

• Assistax: A Multi-Agent Hardware-Accelerated Reinforcement Learning Benchmark for Assistive Robotics

  Leonard Hinckeldey, Elliot Fosong, Rimvydas Rubavicius, Elle Miller, Trevor McInroe, Fan Zhang, Patricia Wollstadt, Stefano V. Albrecht, Subramanian Ramamoorthy · 3. Juni 2026

  The development of reinforcement learning (RL) algorithms has been largely driven by ambitious challenge tasks and benchmarks. Games have dominated RL benchmarks because they present relevant challenges, are inexpensive to run and easy to understand. While games such as Go and Atari have led to many…

• Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects

  Jens U. Kreber, Lukas Mack, Joerg Stueckler · 2. Juni 2026

  World models enable intelligent agents to predict the consequences of their actions on the environment. In this paper, we propose Multi Rigid Object Gaussian World Model (MRO-GWM), a novel model that learns action-conditional dynamics of rigid objects in 3D. By representing the scene by object-centr…

• Semantic-Geometric Task Representations for Bimanual Manipulation from Human Demonstrations to Robot Action Planning

  Franziska Herbert, Vignesh Prasad, Han Liu, Dorothea Koert, Georgia Chalvatzaki · 2. Juni 2026

  Learning structured task representations from human demonstrations is essential for bimanual manipulation, where action ordering, object involvement, and interaction geometry vary significantly across executions. A key challenge lies in jointly capturing the discrete semantic task structure and the …