# Paper Atlas — papers by project _613 papers · generated 2026-10-05_ ## CURRENT PROJECTS - MABEL — Mobile bimanual humanoid - Reading (119) - Reinforcement Learning (45) - Locomotion (12) - [Learning agile and dynamic motor skills for legged robots](https://arxiv.org/abs/1901.08652) `Science Robotics 2019` - [Learning Quadrupedal Locomotion over Challenging Terrain](https://arxiv.org/abs/2010.11251) `Science Robotics 2020` - [Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning](https://arxiv.org/abs/2109.11978) `CoRL 2021` - [RMA: Rapid Motor Adaptation for Legged Robots](https://arxiv.org/abs/2107.04034) `RSS 2021` - [Optimization-Based Control for Dynamic Legged Robots](https://arxiv.org/abs/2211.11644) `arXiv 2022` - [Real-World Humanoid Locomotion with Reinforcement Learning](https://arxiv.org/abs/2303.03381) `Science Robotics 2024` - [A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion](https://arxiv.org/abs/2502.03206) `arXiv 2025` - [Booster Gym: An End-to-End Reinforcement Learning Framework for Humanoid Robot Locomotion](https://doi.org/10.1007/978-981-95-6825-3_19) `Lecture Notes in Electrical Engineering 2025` - [Learning Getting-Up Policies for Real-World Humanoid Robots](https://arxiv.org/abs/2502.12152) `arXiv 2025` - [Unified Humanoid Fall-Safety Policy from a Few Demonstrations](https://arxiv.org/abs/2511.07407) `arXiv 2025` - [Scalable and General Whole-Body Control for Cross-Humanoid Locomotion](https://arxiv.org/abs/2602.05791) `arXiv 2026` - [UniReLo: Learning a Unified Humanoid Policy from Fall Recovery to Locomotion across Diverse Terrains](https://arxiv.org/abs/2606.08922) `arXiv 2026` - Motion imitation & characters (9) - [DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills](https://arxiv.org/abs/1804.02717) `SIGGRAPH 2018` - [ExBody2: Advanced Expressive Humanoid Whole-Body Control](https://arxiv.org/abs/2412.13196) `arXiv 2024` - [MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting](https://arxiv.org/abs/2409.14393) `SIGGRAPH Asia 2024` - [BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion](https://doi.org/10.1126/scirobotics.adx8924) `Science Robotics 2025` - [Towards Adaptable Humanoid Control via Adaptive Motion Tracking](https://arxiv.org/abs/2510.14454) `arXiv 2025` - [Visual Imitation Enables Contextual Humanoid Control](https://arxiv.org/abs/2505.03729) `arXiv 2025` - [VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation](https://arxiv.org/abs/2509.20322) `arXiv 2025` - [A Kung Fu Athlete Bot That Can Do It All Day: Highly Dynamic, Balance-Challenging Motion Dataset and Autonomous Fall-Resilient Tracking](https://arxiv.org/abs/2602.13656) `arXiv 2026` - [StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior](https://arxiv.org/abs/2608.02385) `arXiv 2026` - Dexterous manipulation (1) - [Catch It! Learning to Catch in Flight with Mobile Dexterous Hands](https://arxiv.org/abs/2409.10319) `ICRA 2025` - Whole-body loco-manipulation (18) - [Whole-Body Control of a Mobile Manipulator using End-to-End Reinforcement Learning](https://arxiv.org/abs/2003.02637) `arXiv 2020` - [Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion](https://arxiv.org/abs/2210.10044) `CoRL 2022` - [Dynamic Mobile Manipulation via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid](https://arxiv.org/abs/2307.01350) `arXiv 2023` - [Wheeled Humanoid Bilateral Teleoperation with Position-Force Control Modes for Dynamic Loco-Manipulation](https://arxiv.org/abs/2407.12189) `arXiv 2024` - [AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control](https://arxiv.org/abs/2505.03738) `arXiv 2025` - [DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation](https://arxiv.org/abs/2510.11258) `arXiv 2025` - [FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation](https://arxiv.org/abs/2505.06776) `arXiv 2025` - [Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching](https://arxiv.org/abs/2508.03068) `arXiv 2025` - [Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation](https://arxiv.org/abs/2511.21169) `arXiv 2025` - [ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning](https://arxiv.org/abs/2510.05070) `arXiv 2025` - [Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next](https://arxiv.org/abs/2512.07765) `arXiv 2025` - [Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation](https://arxiv.org/abs/2508.09846) `arXiv 2025` - [Dyna-2.1: A Physical Agent for End-to-End Workflows](https://www.dyna.co/dyna-2.1) `Technical report 2026` - [FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences](https://arxiv.org/abs/2608.17027) `arXiv 2026` - [HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model](https://arxiv.org/abs/2602.11758) `arXiv 2026` - [HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers](https://arxiv.org/abs/2606.06493) `arXiv 2026` - [Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum](https://arxiv.org/abs/2605.21133) `arXiv 2026` - [Whole-Body Mobile Manipulation using Offline Reinforcement Learning on Sub-optimal Controllers](https://arxiv.org/abs/2604.12509) `arXiv 2026` - RL post-training on foundation models (1) - [Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention](https://arxiv.org/abs/2605.15157) `arXiv 2026` - Model-based & world-model RL (2) - [Navigation World Models](https://arxiv.org/abs/2412.03572) `CVPR 2024` - [NavDreamer: Video Models as Zero-Shot 3D Navigators](https://arxiv.org/abs/2602.09765) `IEEE RA-L 2026` - Sim-to-real & real-to-sim (2) - [Toward Control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation](https://arxiv.org/abs/2403.10948) `arXiv 2024` - [ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills](https://arxiv.org/abs/2502.01143) `RSS 2025` - Imitation Learning (28) - Vision-Language-Action models (5) - [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://arxiv.org/abs/2503.14734) `arXiv 2025` - [Helix: A Vision-Language-Action Model for Generalist Humanoid Control](https://www.figure.ai/news/helix) `blog 2025` - [Humanoid Policy ~ Human Policy](https://arxiv.org/abs/2503.13441) `CoRL 2025` - [RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation](https://arxiv.org/abs/2410.07864) `ICLR 2025` - [WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control](https://arxiv.org/abs/2512.11047) `arXiv 2025` - World models & WAM (9) - [Latent Action Pretraining Through World Modeling](https://arxiv.org/abs/2509.18428) `arXiv 2025` - [AIM: Intent-Aware Unified world action Modeling with Spatial Value Maps](https://arxiv.org/abs/2604.11135) `arXiv 2026` - [Being-H0.7: A Latent World-Action Model from Egocentric Videos](https://arxiv.org/abs/2605.00078) `arXiv 2026` - [DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation](https://arxiv.org/abs/2608.20114) `arXiv 2026` - [DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos](https://arxiv.org/abs/2602.06949) `ICML 2026` - [LAWM-3D: Learning 3D-Aware Latent Actions from Human Videos for Generalizable Robot World Models](https://arxiv.org/abs/2608.05706) `arXiv 2026` - [MobileWAM: Bridging World Action Models to Mobile Manipulation with Chain-of-Foresight](https://arxiv.org/abs/2608.04657) `arXiv 2026` - [MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation](https://arxiv.org/abs/2606.09215) `arXiv 2026` - [World-Language-Action Model for Unified World Modeling, Language Reasoning, and Action Synthesis](https://arxiv.org/abs/2606.05979) `arXiv 2026` - Learning from human video (4) - [Latent Action Pretraining from Videos](https://arxiv.org/abs/2410.11758) `ICLR 2024` - [EgoMimic: Scaling Imitation Learning via Egocentric Video](https://arxiv.org/abs/2410.24221) `ICRA 2025` - [H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation](https://arxiv.org/abs/2507.23523) `arXiv 2025` - [Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation](https://arxiv.org/abs/2604.24681) `arXiv 2026` - Retargeting & teleoperation (10) - [AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](https://arxiv.org/abs/2307.04577) `RSS 2023` - [Expressive Whole-Body Control for Humanoid Robots](https://arxiv.org/abs/2402.16796) `RSS 2024` - [Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation](https://arxiv.org/abs/2403.04436) `IROS 2024` - [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://arxiv.org/abs/2406.08858) `CoRL 2024` - [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://arxiv.org/abs/2407.01512) `CoRL 2024` - [Analyzing Key Objectives in Human-to-Robot Retargeting for Dexterous Manipulation](https://arxiv.org/abs/2506.09384) `arXiv 2025` - [HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots](https://arxiv.org/abs/2410.21229) `ICRA 2025` - [Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking](https://arxiv.org/abs/2510.02252) `arXiv 2025` - [Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots](https://arxiv.org/abs/2606.03476) `arXiv 2026` - [X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting](https://arxiv.org/abs/2606.07934) `arXiv 2026` - Hardware & Systems (46) - Open-source arms & bimanual (7) - [Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation](https://doi.org/10.1109/icra.2019.8794236) `ICRA 2019` - [ALOHA: A Low-cost Open-source Hardware System for Bimanual Teleoperation](https://tonyzhaozh.github.io/aloha/) `RSS 2023` - [ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation](https://arxiv.org/abs/2405.02292) `arXiv 2024` - [GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators](https://arxiv.org/abs/2309.13037) `IROS 2024` - [LeRobot / SO-100 & SO-101: Standard Open Arm](https://github.com/huggingface/lerobot) `open hardware 2024` - [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://arxiv.org/abs/2401.02117) `CoRL 2024` - [OpenPyRo-A1: An Open Python-Based Low-Cost Bimanual Robot for Embodied AI](https://doi.org/10.1109/lra.2025.3634886) `IEEE RA-L 2026` - Mobile manipulation platforms (6) - [The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments](https://arxiv.org/abs/2109.10892) `ICRA 2022` - [BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities](https://arxiv.org/abs/2503.05652) `CoRL 2025` - [HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control](https://arxiv.org/abs/2506.01185) `arXiv 2025` - [TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning](https://arxiv.org/abs/2412.10447) `CoRL 2025` - [Towards Human-level Intelligence via Human-like Whole-Body Manipulation](https://arxiv.org/abs/2507.17141) `arXiv 2025` - [YOR: Your Own Mobile Manipulator for Generalizable Robotics](https://arxiv.org/abs/2602.11150) `arXiv 2026` - Data-collection interfaces (15) - [ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation](https://arxiv.org/abs/2408.11805) `arXiv 2024` - [Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning](https://arxiv.org/abs/2407.03162) `arXiv 2024` - [TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation](https://arxiv.org/abs/2403.07869) `arXiv 2024` - [UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers](https://arxiv.org/abs/2407.10353) `CoRL 2024` - [Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots](https://arxiv.org/abs/2402.10329) `RSS 2024` - [AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons](https://arxiv.org/abs/2503.03081) `CoRL 2025` - [DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation](https://arxiv.org/abs/2505.21864) `CoRL 2025` - [Exo-ViHa: A Cross-Platform Exoskeleton System with Visual and Haptic Feedback for Efficient Dexterous Skill Learning](https://arxiv.org/abs/2503.01543) `arXiv 2025` - [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://arxiv.org/abs/2502.13013) `arXiv 2025` - [TWIST: Teleoperated Whole-Body Imitation System](https://arxiv.org/abs/2505.02833) `arXiv 2025` - [Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations](https://arxiv.org/abs/2602.06643) `arXiv 2026` - [ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation](https://arxiv.org/abs/2607.19479) `arXiv 2026` - [RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning](https://arxiv.org/abs/2606.06033) `arXiv 2026` - [Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback](https://arxiv.org/abs/2606.14218) `arXiv 2026` - [WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning](https://arxiv.org/abs/2606.13232) `arXiv 2026` - Humanoid & legged platforms (5) - [Berkeley Humanoid: A Research Platform for Learning-based Control](https://arxiv.org/abs/2407.21781) `arXiv 2024` - [Design and Control of a Bipedal Robotic Character](https://doi.org/10.15607/rss.2024.xx.103) `RSS 2024` - [Unitree G1 / H1 Humanoid Platforms](https://www.unitree.com/g1) `commercial 2024` - [Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot](https://arxiv.org/abs/2504.17249) `arXiv 2025` - [ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation](https://arxiv.org/abs/2502.00893) `arXiv 2025` - Co-design & morphology (1) - [Accelerated co-design of robots through morphological pretraining](https://arxiv.org/abs/2502.10862) `arXiv 2025` - Simulators & benchmarks (2) - [Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments](https://arxiv.org/abs/2301.04195) `IEEE RA-L 2023` - [HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation](https://arxiv.org/abs/2403.10506) `RSS 2024` - Planning & control (5) - [Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator](https://arxiv.org/abs/2305.17484) `IEEE Robotics and Automation Letters 2023` - [Planning Optimal Trajectories for Mobile Manipulators under End-effector Trajectory Continuity Constraint](https://arxiv.org/abs/2309.12251) `ICRA 2023` - [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://arxiv.org/abs/2307.05973) `CoRL 2023` - [ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation](https://arxiv.org/abs/2409.01652) `CoRL 2024` - [Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control](https://arxiv.org/abs/2604.23863) `arXiv 2026` - Perception & state estimation (1) - [RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation](https://arxiv.org/abs/2402.15487) `CoRL 2024` - Agentic & auto-research systems (2) - [Sunday Robotics: Gelato Foundation Model & Skill Capture](https://www.humanoidsdaily.com/news/sunday-unveils-memo-a-wheeled-domestic-robot-that-learns-from-200-gloves) `company blog 2025` - [Figure AI: Helix in the home and at BMW Spartanburg](https://www.figure.ai/news) `company blog 2026` - M2 — Multi-robot collaboration - Reading (180) - Reinforcement Learning (73) - Locomotion (9) - [Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning](https://arxiv.org/abs/2109.11978) `CoRL 2021` - [Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning](https://arxiv.org/abs/2606.08064) `Nature 2026` - [Genetic Fuzzy System-Based Multi-Robot Coordination for Planetary Missions](https://arxiv.org/abs/2608.12755) `arXiv 2026` - [HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments](https://arxiv.org/abs/2608.12860) `arXiv 2026` - [KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots](https://doi.org/10.1109/tmech.2026.3721778) `IEEE/ASME T-Mech 2026` - [Learning Agile Navigation in Crowded Environments for Quadruped Robots](https://arxiv.org/abs/2607.15036) `arXiv 2026` - [Multi-Robot Box Transport over Different Surfaces with Decentralized Role-based Proportional Control](https://arxiv.org/abs/2605.26430) `arXiv 2026` - [Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion](https://arxiv.org/abs/2608.15766) `IEEE Humanoids 2026` - [Teleopit: A Full-Embodiment Humanoid Teleoperation System](https://arxiv.org/abs/2608.01834) `arXiv 2026` - Motion imitation & characters (2) - [Heavy lifting tasks via haptic teleoperation of a wheeled humanoid](https://arxiv.org/abs/2505.19530) `IEEE Humanoids 2025` - [Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Open-World Contact Localization](https://arxiv.org/abs/2606.10743) `arXiv 2026` - Dexterous manipulation (4) - [Robust Visual Servoing under Human Supervision for Assembly Tasks](https://arxiv.org/abs/2504.12506) `arXiv 2025` - [Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers](https://arxiv.org/abs/2607.14578) `IROS 2026` - [ORCA: A Platform for Open-Source Dexterity Research](https://arxiv.org/abs/2606.14561) `arXiv 2026` - [RoboStriker: Latent-Space Strategic Games for Autonomous Humanoid Boxing](https://arxiv.org/abs/2608.16195) `IEEE Humanoids 2026` - Whole-body loco-manipulation (20) - [Hierarchical Adaptive Motion Planning with Nonlinear Model Predictive Control for Safety-Critical Collaborative Loco-Manipulation](https://arxiv.org/abs/2411.10699) `arXiv 2024` - [Safe Expeditious Whole-Body Control of Mobile Manipulators for Collision Avoidance](https://arxiv.org/abs/2409.14775) `arXiv 2024` - [Wheeled Humanoid Bilateral Teleoperation with Position-Force Control Modes for Dynamic Loco-Manipulation](https://arxiv.org/abs/2407.12189) `arXiv 2024` - [FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation](https://arxiv.org/abs/2505.06776) `arXiv 2025` - [Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation](https://arxiv.org/abs/2511.21169) `arXiv 2025` - [Shared Object Manipulation with a Team of Collaborative Quadrupeds](https://arxiv.org/abs/2510.00682) `IEEE Humanoids 2025` - [Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next](https://arxiv.org/abs/2512.07765) `arXiv 2025` - [ACLM: ADMM-Based Distributed Model Predictive Control for Collaborative Loco-Manipulation](https://arxiv.org/abs/2603.07095) `arXiv 2026` - [DynaMOMA: Instantaneous Prediction of Grasp Poses for Mobile Manipulation of Dynamic Objects](https://arxiv.org/abs/2606.25295) `arXiv 2026` - [FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation](https://arxiv.org/abs/2606.24466) `arXiv 2026` - [FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences](https://arxiv.org/abs/2608.17027) `arXiv 2026` - [Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control](https://arxiv.org/abs/2608.19443) `IEEE Humanoids 2026` - [Learning Dynamic Pick-and-Place for a Legged Manipulator](https://doi.org/10.1109/lra.2026.3688092) `IEEE RA-L 2026` - [Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL](https://arxiv.org/abs/2608.12063) `arXiv 2026` - [Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation](https://arxiv.org/abs/2605.31343) `IEEE RA-L 2026` - [OpenHEART: Opening Heterogeneous Articulated Objects with a Legged Manipulator](https://arxiv.org/abs/2603.05830) `ICRA 2026` - [PAINT: Partner-Agnostic Intent-Aware Cooperative Transport with Legged Robots](https://doi.org/10.1109/lra.2026.3730304) `IEEE RA-L 2026` - [RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation](https://arxiv.org/abs/2608.03387) `IEEE Humanoids 2026` - [Task-Oriented Robot-Human Handovers on Legged Manipulators](https://arxiv.org/abs/2602.05760) `arXiv 2026` - [Video2DoorTraversal: Push Door Traversal via Simulated Door Twins](https://arxiv.org/abs/2608.20251) `arXiv 2026` - Multi-agent RL (33) - [Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments](https://doi.org/10.57702/apbqmp7u) `NeurIPS 2017` - [QMIX: Monotonic Value Function Factorisation for Deep Multi-Agent Reinforcement Learning](https://arxiv.org/abs/1803.11485) `ICML 2018` - [Hierarchical Intention Tracking for Robust Human-Robot Collaboration in Industrial Assembly Tasks](https://arxiv.org/abs/2203.09063) `arXiv 2022` - [The Surprising Effectiveness of PPO in Cooperative, Multi-Agent Games](https://arxiv.org/abs/2103.01955) `NeurIPS 2022` - [InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions](https://arxiv.org/abs/2311.12943) `arXiv 2023` - [RoCo: Dialectic Multi-Robot Collaboration with Large Language Models](https://arxiv.org/abs/2307.04738) `arXiv 2023` - [Workspace Optimization Techniques to Improve Prediction of Human Motion During Human-Robot Collaboration](https://arxiv.org/abs/2401.12965) `arXiv 2024` - [A Survey on Improving Human Robot Collaboration through Vision-and-Language Navigation](https://arxiv.org/abs/2512.00027) `arXiv 2025` - [Decentralized Aerial Manipulation of a Cable-Suspended Load using Multi-Agent Reinforcement Learning](https://arxiv.org/abs/2508.01522) `CoRL 2025` - [H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies](https://arxiv.org/abs/2505.17627) `arXiv 2025` - [Leveraging Adaptive Group Negotiation for Heterogeneous Multi-Robot Collaboration with Large Language Models](https://arxiv.org/abs/2602.06967) `arXiv 2025` - [ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots](https://arxiv.org/abs/2607.17007) `arXiv 2026` - [AMR-Pose: An Active LED Marker-Based Relative Pose Estimation Framework With Probabilistic Switching PnP for Cooperative AUVs](https://arxiv.org/abs/2608.12866) `arXiv 2026` - [An O-RAN-Assisted MARL Approach for Dynamic Sidelink and Infrastructure Selection in V2X Communications](https://doi.org/10.1109/tvt.2026.3721784) `IEEE Transactions on Vehicular Technology 2026` - [CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy](https://arxiv.org/abs/2606.12352) `arXiv 2026` - [CUDA MPC: A GPU-Native Solver for Model Predictive Control](https://arxiv.org/abs/2608.03051) `arXiv 2026` - [Compact Latent Coordination for Autonomous Vehicles at Unsignalized Intersections](https://arxiv.org/abs/2607.21488) `arXiv 2026` - [Continual Quadruped Robots Coordination via Semantic Skill Discovery](https://arxiv.org/abs/2606.08102) `arXiv 2026` - [Coverage Path Planning: Classical Foundations, Recent Advances, and Future Directions](https://arxiv.org/abs/2607.10649) `arXiv 2026` - [Decentralized LLM-Driven Coordination of Acoustic Robots for Contactless Object Manipulation](https://arxiv.org/abs/2605.29378) `arXiv 2026` - [Differentiable Belief-based Opponent Shaping](https://arxiv.org/abs/2605.29042) `arXiv 2026` - [Distributed Model Predictive Control with Adaptive Safety Zones for Multi-Fleet Drone Operations](https://arxiv.org/abs/2606.20651) `arXiv 2026` - [EFLUX: Elastic Multi-Robot Formation Navigation and Adaptation with Agentic LLMs](https://arxiv.org/abs/2607.12050) `arXiv 2026` - [From Raw Data to Shared 3D Semantics: Task-Oriented Communication for Multi-Robot Collaboration](https://arxiv.org/abs/2602.08624) `arXiv 2026` - [Human-Guided Co-Manipulation of Carbon Fiber Plies](https://arxiv.org/abs/2606.11818) `arXiv 2026` - [Latent Semantic State Estimation for Reliable Swarming of UAVs under Intermittent Connectivity](https://arxiv.org/abs/2608.08895) `arXiv 2026` - [MIND-CAVs: Multi-Intelligence Negotiation and Decision System for CAVs based on Intent-Driven Autonomy](https://arxiv.org/abs/2607.14688) `arXiv 2026` - [PIMbot: A Self-Adaptive Attack Framework for Adversarial Manipulation of Multi-Robot Reinforcement Learning](https://arxiv.org/abs/2605.23027) `IROS 2026` - [Shape Formation for the Cooperative Transportation of Arbitrary Objects Using Multi-Agent Reinforcement Learning](https://arxiv.org/abs/2606.09610) `arXiv 2026` - [Socially Consistent Multi-Robot Navigation Using Decoupled Planning and Trajectory Coordination](https://doi.org/10.34133/cesci.0025) `Civil Engineering Sciences 2026` - [Structured LLM Reasoning for Zero-Shot Human--Robot Coordination Under Hidden Goals](https://arxiv.org/abs/2608.04309) `arXiv 2026` - [Unveiling Complex Collective Behaviors from Simple Rewards](https://arxiv.org/abs/2607.12861) `Nature 2026` - [XAI-Guided Conservative Decentralized Execution for Offline Multi-Agent Network Slicing](https://arxiv.org/abs/2608.13982) `arXiv 2026` - Model-based & world-model RL (5) - [Learning Latent Dynamics for Planning from Pixels](https://arxiv.org/abs/1811.04551) `ICML 2018` - [Dream to Control: Learning Behaviors by Latent Imagination](https://arxiv.org/abs/1912.01603) `ICLR 2019` - [Temporal Difference Learning for Model Predictive Control](https://arxiv.org/abs/2203.04955) `ICML 2022` - [DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning](https://arxiv.org/abs/2411.04983) `ICML 2024` - [Causal World Modeling for Robot Control](https://arxiv.org/abs/2601.21998) `arXiv 2026` - Imitation Learning (41) - Visuomotor policy architectures (6) - [Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation](https://arxiv.org/abs/2408.11812) `CoRL 2024` - [Primary Experimental Feedback on a Co-manipulated Robotic System for Assisted Cervical Surgery](https://doi.org/10.1007/978-3-032-05466-1_15) `Mechanisms and machine science 2025` - [Sharing the Load: Autonomous Multi-Rover Cargo Transport](https://arxiv.org/abs/2510.18766) `arXiv 2025` - [A Compact Top-Loading Robot for Endovascular Interventions: Design, Control and Evaluation](https://arxiv.org/abs/2607.11779) `arXiv 2026` - [Communication Reduction via Semantic-Based Encoding in DMPC Using LSTMs](https://arxiv.org/abs/2608.17592) `arXiv 2026` - [When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning](https://arxiv.org/abs/2607.25593) `arXiv 2026` - Vision-Language-Action models (8) - [Slot-Level Robotic Placement via Visual Imitation from Single Human Video](https://arxiv.org/abs/2504.01959) `arXiv 2025` - [TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning](https://arxiv.org/abs/2509.11839) `IEEE Humanoids 2025` - [WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control](https://arxiv.org/abs/2512.11047) `arXiv 2025` - [Exposing the Long-tail in Embodied Urban Navigation via Scalable Learning from In-the-Wild Videos](https://arxiv.org/abs/2608.16476) `arXiv 2026` - [From Foundation to Application: Improving VLA Models in Practice](https://arxiv.org/abs/2607.06403) `arXiv 2026` - [HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL](https://arxiv.org/abs/2608.16837) `IEEE Humanoids 2026` - [Learning Panorama-Aware VLA for Mobile Manipulation with Whole-Body Teleoperation](https://arxiv.org/abs/2608.02257) `arXiv 2026` - [On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning](https://arxiv.org/abs/2605.26649) `IROS 2026` - World models & WAM (14) - [AdaWorld: Learning Adaptable World Models with Latent Actions](https://arxiv.org/abs/2503.18938) `ICML 2025` - [FLARE: Robot Learning with Implicit World Modeling](https://arxiv.org/abs/2505.15659) `arXiv 2025` - [Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation](https://arxiv.org/abs/2508.05635) `arXiv 2025` - [$ω$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation](https://arxiv.org/abs/2608.06375) `arXiv 2026` - [Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning](https://arxiv.org/abs/2601.16163) `arXiv 2026` - [DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation](https://arxiv.org/abs/2608.20114) `arXiv 2026` - [EV-WM: Event-Verified World Models for Long-Horizon Robotic Manipulation](https://arxiv.org/abs/2606.13053) `arXiv 2026` - [JoyAI-RA 0.5: Scaling Robot Manipulation Learning via Dual Action Alignment](https://arxiv.org/abs/2608.05674) `arXiv 2026` - [LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation](https://arxiv.org/abs/2608.07746) `IEEE Humanoids 2026` - [MobileWAM: Bridging World Action Models to Mobile Manipulation with Chain-of-Foresight](https://arxiv.org/abs/2608.04657) `arXiv 2026` - [PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulation](https://arxiv.org/abs/2601.03782) `arXiv 2026` - [Robots Need More than VLA and World Models](https://arxiv.org/abs/2606.06556) `arXiv 2026` - [VLA-JEPA: Enhancing Vision-Language-Action Model with Latent World Model](https://arxiv.org/abs/2602.10098) `arXiv 2026` - [World Action Models are Zero-shot Policies](https://arxiv.org/abs/2602.15922) `arXiv 2026` - Learning from human video (6) - [ACE-Ego-Hand: Repurposing Video Diffusion Models for Occlusion-Robust Egocentric 3D Hand Motion Recovery](https://arxiv.org/abs/2608.20308) `arXiv 2026` - [AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning](https://arxiv.org/abs/2607.08857) `IEEE Humanoids 2026` - [Do as I Do: Dexterous Manipulation Data from Everyday Human Videos](https://arxiv.org/abs/2606.19333) `arXiv 2026` - [HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing](https://arxiv.org/abs/2608.12122) `arXiv 2026` - [Robot Learning from Human Videos: A Survey](https://arxiv.org/abs/2604.27621) `arXiv 2026` - [SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation](https://arxiv.org/abs/2608.04196) `arXiv 2026` - Retargeting & teleoperation (6) - [RoboMatch: A Unified Mobile-Manipulation Teleoperation Platform with Auto-Matching Network Architecture for Long-Horizon Tasks](https://arxiv.org/abs/2509.08522) `ICRA 2025` - [C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video](https://arxiv.org/abs/2608.07045) `arXiv 2026` - [Duet: Dual-Robot Understanding via Efficient Teaching](https://arxiv.org/abs/2606.20990) `arXiv 2026` - [Robots that Collaborate: Sequential Asymmetric Imitation for Learning Coupled Robot Policies](https://arxiv.org/abs/2606.16490) `arXiv 2026` - [Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control](https://arxiv.org/abs/2604.06932) `arXiv 2026` - [X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting](https://arxiv.org/abs/2606.07934) `arXiv 2026` - Data scaling & cross-embodiment (1) - [Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning](https://arxiv.org/abs/2607.14183) `arXiv 2026` - Hardware & Systems (66) - Open-source arms & bimanual (4) - [Nonlinear Model Predictive Control for Cooperative Transportation and Manipulation of Cable Suspended Payloads with Multiple Quadrotors](https://arxiv.org/abs/2303.06165) `IROS 2023` - [Event-Triggered Nonlinear Model Predictive Control for Cooperative Cable-Suspended Payload Transportation with Multi-Quadrotors](https://arxiv.org/abs/2504.03123) `arXiv 2025` - [HEATS: A Hierarchical Framework for Efficient Autonomous Target Search with Mobile Manipulators](https://arxiv.org/abs/2503.07986) `arXiv 2025` - [KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning](https://doi.org/10.15607/rss.2026.xxii.184) `RSS 2026` - Mobile manipulation platforms (2) - [TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning](https://arxiv.org/abs/2412.10447) `CoRL 2025` - [YOR: Your Own Mobile Manipulator for Generalizable Robotics](https://arxiv.org/abs/2602.11150) `arXiv 2026` - Data-collection interfaces (4) - [TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation](https://arxiv.org/abs/2403.07869) `arXiv 2024` - [EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos](https://arxiv.org/abs/2607.09701) `arXiv 2026` - [ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation](https://arxiv.org/abs/2607.19479) `arXiv 2026` - [Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback](https://arxiv.org/abs/2606.14218) `arXiv 2026` - Dexterous hands (2) - [MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand](https://arxiv.org/abs/2607.14487) `arXiv 2026` - [PDS Joint: A Parametric Double-Spiral Joint Tailored for Dexterous Hands](https://arxiv.org/abs/2606.24377) `arXiv 2026` - Tactile sensing hardware (2) - [OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies](https://arxiv.org/abs/2607.03723) `arXiv 2026` - [RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation](https://arxiv.org/abs/2606.31836) `arXiv 2026` - Humanoid & legged platforms (1) - [THRIVE: Therapeutic Humanoid Robot In Virtual Environment](https://arxiv.org/abs/2608.14462) `arXiv 2026` - Simulators & benchmarks (14) - [Integrated Planning and Control of Robotic Surgical Instruments for Tasks Autonomy](https://arxiv.org/abs/2305.09470) `arXiv 2023` - [The One RING: a Robotic Indoor Navigation Generalist](https://arxiv.org/abs/2412.14401) `arXiv 2024` - [ActivePusher: Active Learning and Planning with Residual Physics for Nonprehensile Manipulation](https://arxiv.org/abs/2506.04646) `ICRA 2025` - [Push Smarter, Not Harder: Hierarchical RL-Diffusion Policy for Efficient Nonprehensile Manipulation](https://doi.org/10.1109/lra.2026.3692041/mm1) `arXiv 2025` - [RoboSwap: A GAN-driven Video Diffusion Framework For Unsupervised Robot Arm Swapping](https://arxiv.org/abs/2506.08632) `arXiv 2025` - [WorldEval: World Model as Real-World Robot Policies Evaluator](https://arxiv.org/abs/2505.19017) `arXiv 2025` - [A Progress-Aware Leader-Follower Midair Docking System for Dual-Drone Aerial Manipulation](https://arxiv.org/abs/2605.29410) `arXiv 2026` - [Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition](https://arxiv.org/abs/2608.09762) `arXiv 2026` - [Interactive World Simulator for Robot Policy Training and Evaluation](https://arxiv.org/abs/2603.08546) `arXiv 2026` - [Real-Time Projected Adaptive Control for Closed-Chain Co-Manipulative Continuum Robots](https://arxiv.org/abs/2604.04286) `arXiv 2026` - [RoboWorld: Fast and Reliable Neural Simulators for Generalist Robot Policy Evaluation](https://arxiv.org/abs/2607.01060) `arXiv 2026` - [Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters](https://arxiv.org/abs/2603.04057) `arXiv 2026` - [Submodular Policy Learning for Distributed Task Allocation in Open Multi-Agent Systems](https://arxiv.org/abs/2608.14390) `arXiv 2026` - [Vibration Suppression in Collaborative Flexible Payload Manipulation Using Passive Force Control](https://arxiv.org/abs/2608.14244) `arXiv 2026` - Planning & control (34) - [Data-Driven Risk-sensitive Model Predictive Control for Safe Navigation in Multi-Robot Systems](https://arxiv.org/abs/2209.07793) `Nature 2022` - [Distributed Safe Learning and Planning for Multi-robot Systems](https://arxiv.org/abs/2207.07824) `arXiv 2022` - [Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics](https://arxiv.org/abs/2310.12816) `arXiv 2023` - [Nonholonomic Motion Planning as Efficient as Piano Mover's](https://arxiv.org/abs/2306.01301) `arXiv 2023` - [RL-based Variable Horizon Model Predictive Control of Multi-Robot Systems using Versatile On-Demand Collision Avoidance](https://arxiv.org/abs/2308.07071) `arXiv 2023` - [Autonomous Multiple-Trolley Collection System with Nonholonomic Robots: Design, Control, and Implementation](https://arxiv.org/abs/2401.08433) `arXiv 2024` - [BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics](https://arxiv.org/abs/2412.09584) `ICLR 2024` - [Robust Dynamic Control Barrier Function Based Trajectory Planning for Mobile Manipulator](https://arxiv.org/abs/2406.15806) `arXiv 2024` - [Safe Force/Position Tracking Control via Control Barrier Functions for Floating Base Mobile Manipulator Systems](https://arxiv.org/abs/2404.13626) `arXiv 2024` - [Topology-Driven Parallel Trajectory Optimization in Dynamic Environments](https://arxiv.org/abs/2401.06021) `IEEE T-RO 2024` - [Combining High Level Scheduling and Low Level Control to Manage Fleets of Mobile Robots](https://arxiv.org/abs/2510.23129) `arXiv 2025` - [Distributed Switching Model Predictive Control Meets Koopman Operator for Dynamic Obstacle Avoidance](https://arxiv.org/abs/2511.17186) `arXiv 2025` - [Forecast-Driven MPC for Decentralized Multi-Robot Collision Avoidance](https://arxiv.org/abs/2508.08264) `arXiv 2025` - [Multi-directional Safe Rectangle Corridor-Based MPC for Nonholonomic Robots Navigation in Cluttered Environment](https://arxiv.org/abs/2512.13215) `arXiv 2025` - [Planning and Control for Deformable Linear Object Manipulation](https://doi.org/10.1109/tase.2025.3635685) `IEEE Transactions on Automation Science and En 2025` - [Quadratic-Programming-based Control of Multi-Robot Systems for Cooperative Object Transport](https://doi.org/10.1016/j.ejcon.2026.101598) `European Journal of Control 2025` - [Risk Aware Safe Control with Multi-Modal Sensing for Dynamic Obstacle Avoidance](https://doi.org/10.1016/j.conengprac.2026.107114) `Control Engineering Practice 2025` - [SkyVLN: Vision-and-Language Navigation and NMPC Control for UAVs in Urban Environments](https://arxiv.org/abs/2507.06564) `IROS 2025` - [A Survey on Sensor-based Planning and Control for Unmanned Underwater Vehicles](https://arxiv.org/abs/2604.05003) `arXiv 2026` - [BOWConnect: Parallel Bayesian Optimization over Windows with Learned Local Cost Maps for Sample-Efficient Kinodynamic Motion Planning](https://arxiv.org/abs/2606.27292) `IROS 2026` - [COLREGs Compliant Collision Avoidance and Grounding Prevention for Autonomous Marine Navigation](https://arxiv.org/abs/2603.02484) `arXiv 2026` - [Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception](https://arxiv.org/abs/2605.15999) `arXiv 2026` - [Continuous-Time Gaussian Belief Trees for Motion Planning](https://arxiv.org/abs/2607.02884) `arXiv 2026` - [Credibility-Aware Learning and Control for Safe USV Navigation under Perception Uncertainty](https://arxiv.org/abs/2605.26974) `arXiv 2026` - [Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats](https://arxiv.org/abs/2607.20352) `arXiv 2026` - [Motion Planning in Dynamic Environments: A Survey from Classical to Modern Methods](https://arxiv.org/abs/2606.02677) `arXiv 2026` - [On Optimal Event-Triggered Distributed Control for Stochastic Multi-Agent Systems via Reinforcement Learning](https://arxiv.org/abs/2607.17635) `Nature 2026` - [Parallel Dynamic Programming for Conic Linear Quadratic Control](https://arxiv.org/abs/2606.24632) `arXiv 2026` - [Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions](https://arxiv.org/abs/2606.09719) `arXiv 2026` - [Scale-Invariant Sampling in Multi-Arm Bandit Motion Planning for Object Extraction](https://arxiv.org/abs/2604.14026) `arXiv 2026` - [Tether-Aware Dynamic Collision Avoidance for USV-HROV Systems](https://arxiv.org/abs/2606.01112) `arXiv 2026` - [TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics](https://arxiv.org/abs/2605.13748) `RSS 2026` - [TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPU](https://arxiv.org/abs/2606.24039) `arXiv 2026` - [WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $LDL^\top$ Factorization](https://arxiv.org/abs/2607.11603) `arXiv 2026` - Perception & state estimation (1) - [Omnidirectional Dual-Arm Aerial Manipulator with Proprioceptive Contact Localization for Landing on Slanted Roofs](https://arxiv.org/abs/2602.10703) `ICRA 2026` - Agentic & auto-research systems (2) - [Affordance-Based Disambiguation of Surgical Instructions for Collaborative Robot-Assisted Surgery](https://arxiv.org/abs/2509.14967) `CoRL 2025` - [EmboTeam: Grounding LLM Reasoning into Reactive Behavior Trees via PDDL for Embodied Multi-Robot Collaboration](https://arxiv.org/abs/2601.11063) `arXiv 2026` - Real2Sim2Real — Egocentric capture → sim → policy - Reading (110) - Reinforcement Learning (25) - Locomotion (2) - [RMA: Rapid Motor Adaptation for Legged Robots](https://arxiv.org/abs/2107.04034) `RSS 2021` - [HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments](https://arxiv.org/abs/2608.12860) `arXiv 2026` - Motion imitation & characters (2) - [Visual Imitation Enables Contextual Humanoid Control](https://arxiv.org/abs/2505.03729) `arXiv 2025` - [Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Open-World Contact Localization](https://arxiv.org/abs/2606.10743) `arXiv 2026` - Dexterous manipulation (6) - [Learning Dexterous In-Hand Manipulation](https://arxiv.org/abs/1808.00177) `IJRR 2018` - [From Imitation to Refinement -- Residual RL for Precise Assembly](https://arxiv.org/abs/2407.16677) `arXiv 2024` - [Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation](https://arxiv.org/abs/2601.02778) `arXiv 2026` - [DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model](https://arxiv.org/abs/2510.08556) `ICLR 2026` - [FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulation](https://arxiv.org/abs/2603.10451) `arXiv 2026` - [ORCA: A Platform for Open-Source Dexterity Research](https://arxiv.org/abs/2606.14561) `arXiv 2026` - Whole-body loco-manipulation (5) - [Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning](https://arxiv.org/abs/2505.12278) `IEEE Humanoids 2025` - [Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation](https://arxiv.org/abs/2508.09846) `arXiv 2025` - [Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL](https://arxiv.org/abs/2608.12063) `arXiv 2026` - [RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation](https://arxiv.org/abs/2608.03387) `IEEE Humanoids 2026` - [Video2DoorTraversal: Push Door Traversal via Simulated Door Twins](https://arxiv.org/abs/2608.20251) `arXiv 2026` - Model-based & world-model RL (1) - [DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning](https://arxiv.org/abs/2411.04983) `ICML 2024` - Sim-to-real & real-to-sim (9) - [Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World](https://arxiv.org/abs/1703.06907) `IROS 2017` - [Planar Robot Casting with Real2Sim2Real Self-Supervised Learning](https://arxiv.org/abs/2111.04814) `ICRA 2022` - [Toward Control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation](https://arxiv.org/abs/2403.10948) `arXiv 2024` - [A Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven Deformable Linear Object Manipulation](https://arxiv.org/abs/2502.18615) `In IEEE Robotics and Automation Letters, 2025` - [ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills](https://arxiv.org/abs/2502.01143) `RSS 2025` - [Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids](https://arxiv.org/abs/2502.20396) `arXiv 2025` - [DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation](https://arxiv.org/abs/2605.05241) `arXiv 2026` - [R2S-EGO: Dual-Proxy Refinement for Sparse-Capture Real-to-Sim](https://arxiv.org/abs/2608.06827) `arXiv 2026` - [Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video](https://arxiv.org/abs/2606.08828) `arXiv 2026` - Imitation Learning (55) - Visuomotor policy architectures (1) - [Robot Learning from Any Images](https://arxiv.org/abs/2509.22970) `arXiv 2025` - Vision-Language-Action models (5) - [Humanoid Policy ~ Human Policy](https://arxiv.org/abs/2503.13441) `CoRL 2025` - [Slot-Level Robotic Placement via Visual Imitation from Single Human Video](https://arxiv.org/abs/2504.01959) `arXiv 2025` - [Exposing the Long-tail in Embodied Urban Navigation via Scalable Learning from In-the-Wild Videos](https://arxiv.org/abs/2608.16476) `arXiv 2026` - [From Foundation to Application: Improving VLA Models in Practice](https://arxiv.org/abs/2607.06403) `arXiv 2026` - [On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning](https://arxiv.org/abs/2605.26649) `IROS 2026` - In-context & few-shot (1) - [Vid2Robot: End-to-end Video-conditioned Policy Learning with Cross-Attention Transformers](https://arxiv.org/abs/2403.12943) `RSS 2024` - World models & WAM (16) - [AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation](https://arxiv.org/abs/2407.07889) `RSS 2024` - [Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modeling](https://arxiv.org/abs/2410.18912) `CoRL 2024` - [Genie: Generative Interactive Environments](https://arxiv.org/abs/2402.15391) `ICML 2024` - [GigaWorld-0: World Models as Data Engine to Empower Embodied AI](https://arxiv.org/abs/2511.19861) `arXiv 2025` - [Latent Action Pretraining Through World Modeling](https://arxiv.org/abs/2509.18428) `arXiv 2025` - [Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos](https://arxiv.org/abs/2506.15680) `arXiv 2025` - [Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics](https://arxiv.org/abs/2501.10100) `arXiv 2025` - [$ω$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation](https://arxiv.org/abs/2608.06375) `arXiv 2026` - [Being-H0.7: A Latent World-Action Model from Egocentric Videos](https://arxiv.org/abs/2605.00078) `arXiv 2026` - [DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos](https://arxiv.org/abs/2602.06949) `ICML 2026` - [EgoPhys: Learning Generalizable Physics Models of Deformable Objects from Egocentric Video](https://arxiv.org/abs/2606.16202) `arXiv 2026` - [JoyAI-RA 0.5: Scaling Robot Manipulation Learning via Dual Action Alignment](https://arxiv.org/abs/2608.05674) `arXiv 2026` - [LAWM-3D: Learning 3D-Aware Latent Actions from Human Videos for Generalizable Robot World Models](https://arxiv.org/abs/2608.05706) `arXiv 2026` - [PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulation](https://arxiv.org/abs/2601.03782) `arXiv 2026` - [RoboDream: Compositional World Models for Scalable Robot Data Synthesis](https://arxiv.org/abs/2606.02577) `arXiv 2026` - [World Action Models are Zero-shot Policies](https://arxiv.org/abs/2602.15922) `arXiv 2026` - Learning from human video (29) - [DexMV: Imitation Learning for Dexterous Manipulation from Human Videos](https://arxiv.org/abs/2108.05877) `ECCV 2022` - [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://arxiv.org/abs/2110.07058) `CVPR 2022` - [R3M: A Universal Visual Representation for Robot Manipulation](https://arxiv.org/abs/2203.12601) `CoRL 2022` - [VideoDex: Learning Dexterity from Internet Videos](https://arxiv.org/abs/2212.04498) `CoRL 2022` - [Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectives](https://research-information.bris.ac.uk/en/publications/52745b26-defc-438a-9da8-fc779020c594) `CVPR 2023` - [MimicPlay: Long-Horizon Imitation Learning by Watching Human Play](https://arxiv.org/abs/2302.12422) `CoRL 2023` - [Animal Avatars: Reconstructing Animatable 3D Animals from Casual Videos](https://arxiv.org/abs/2403.17103) `arXiv 2024` - [Latent Action Pretraining from Videos](https://arxiv.org/abs/2410.11758) `ICLR 2024` - [DogMo: A Large-Scale Multi-View RGB-D Dataset for 4D Canine Motion Recovery](https://arxiv.org/abs/2510.24117) `arXiv 2025` - [EgoDemoGen: Egocentric Demonstration Generation for Viewpoint Generalization in Robotic Manipulation](https://arxiv.org/abs/2509.22578) `arXiv 2025` - [EgoMimic: Scaling Imitation Learning via Egocentric Video](https://arxiv.org/abs/2410.24221) `ICRA 2025` - [H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation](https://arxiv.org/abs/2507.23523) `arXiv 2025` - [MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence](https://arxiv.org/abs/2508.13534) `CoRL 2025` - [Phantom: Training Robots Without Robots Using Only Human Videos](https://arxiv.org/abs/2503.00779) `arXiv 2025` - [Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrations](https://arxiv.org/abs/2507.00990) `ICLR 2025` - [ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining](https://arxiv.org/abs/2606.17200) `arXiv 2026` - [ACE-Ego-Hand: Repurposing Video Diffusion Models for Occlusion-Robust Egocentric 3D Hand Motion Recovery](https://arxiv.org/abs/2608.20308) `arXiv 2026` - [AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning](https://arxiv.org/abs/2607.08857) `IEEE Humanoids 2026` - [Do as I Do: Dexterous Manipulation Data from Everyday Human Videos](https://arxiv.org/abs/2606.19333) `arXiv 2026` - [Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data](https://arxiv.org/abs/2608.02580) `arXiv 2026` - [EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations](https://arxiv.org/abs/2606.12604) `arXiv 2026` - [EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks](https://arxiv.org/abs/2604.23570) `arXiv 2026` - [EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data](https://arxiv.org/abs/2602.16710) `arXiv 2026` - [HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing](https://arxiv.org/abs/2608.12122) `arXiv 2026` - [HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos](https://arxiv.org/abs/2605.24934) `arXiv 2026` - [HumanNet: Scaling Human-centric Video Learning to One Million Hours](https://arxiv.org/abs/2605.06747) `arXiv 2026` - [Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation](https://arxiv.org/abs/2604.24681) `arXiv 2026` - [Robot Learning from Human Videos: A Survey](https://arxiv.org/abs/2604.27621) `arXiv 2026` - [SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation](https://arxiv.org/abs/2608.04196) `arXiv 2026` - Retargeting & teleoperation (1) - [C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video](https://arxiv.org/abs/2608.07045) `arXiv 2026` - Data scaling & cross-embodiment (1) - [Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning](https://arxiv.org/abs/2607.14183) `arXiv 2026` - Tactile & contact learning (1) - [EgoEMG: A Multimodal Egocentric Dataset with Bilateral EMG and Vision for Hand Pose Estimation](https://arxiv.org/abs/2605.05712) `arXiv 2026` - Hardware & Systems (30) - Open-source arms & bimanual (1) - [KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning](https://doi.org/10.15607/rss.2026.xxii.184) `RSS 2026` - Data-collection interfaces (6) - [DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation](https://arxiv.org/abs/2403.07788) `RSS 2024` - [Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots](https://arxiv.org/abs/2402.10329) `RSS 2024` - [DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation](https://arxiv.org/abs/2505.21864) `CoRL 2025` - [EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices](https://arxiv.org/abs/2605.16797) `arXiv 2026` - [EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos](https://arxiv.org/abs/2607.09701) `arXiv 2026` - [RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning](https://arxiv.org/abs/2606.06033) `arXiv 2026` - Humanoid & legged platforms (1) - End-to-End Assistive Torque Control for Lower-Limb Exoskeleton via Sim-to-Real Reinforcement Learning and Curriculum Learning `IEEE T-RO` - Simulators & benchmarks (14) - [Automated Creation of Digital Cousins for Robust Policy Learning](https://arxiv.org/abs/2410.07408) `arXiv 2024` - [A Survey: Learning Embodied Intelligence from Physical Simulators and World Models](https://arxiv.org/abs/2507.00917) `arXiv 2025` - [One View, Many Worlds: Single-Image to 3D Object Meets Generative Domain Randomization for One-Shot 6D Pose Estimation](https://arxiv.org/abs/2509.07978) `2025` - [PhysGen3D: Crafting a Miniature Interactive World from a Single Image](https://arxiv.org/abs/2503.20746) `CVPR 2025` - [PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos](https://arxiv.org/abs/2503.17973) `ICCV 2025` - [PhysWorld: From Real Videos to World Models of Deformable Objects via Physics-Aware Demonstration Synthesis](https://arxiv.org/abs/2510.21447) `arXiv 2025` - [PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies](https://doi.org/10.15607/rss.2026.xxii.062) `Robotics: Science and Systems XXII 2025` - [RoboSwap: A GAN-driven Video Diffusion Framework For Unsupervised Robot Arm Swapping](https://arxiv.org/abs/2506.08632) `arXiv 2025` - [Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition](https://arxiv.org/abs/2608.09762) `arXiv 2026` - [PRISM: Personalized Robotic Dataset Generation via Image-based Scene and Motion Synthesis](https://arxiv.org/abs/2607.04880) `arXiv 2026` - [RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation](https://arxiv.org/abs/2607.06699) `arXiv 2026` - [RoboWorld: Fast and Reliable Neural Simulators for Generalist Robot Policy Evaluation](https://arxiv.org/abs/2607.01060) `arXiv 2026` - [Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters](https://arxiv.org/abs/2603.04057) `arXiv 2026` - [SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation](https://arxiv.org/abs/2606.28276) `arXiv 2026` - Planning & control (1) - [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://arxiv.org/abs/2307.05973) `CoRL 2023` - Perception & state estimation (2) - [D$^3$Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement](https://arxiv.org/abs/2309.16118) `CoRL 2023` - [RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation](https://arxiv.org/abs/2402.15487) `CoRL 2024` - Agentic & auto-research systems (5) - [DrEureka: Language Model Guided Sim-To-Real Transfer](https://arxiv.org/abs/2406.01967) `RSS 2024` - [Affordance-Based Disambiguation of Surgical Instructions for Collaborative Robot-Assisted Surgery](https://arxiv.org/abs/2509.14967) `CoRL 2025` - [mimic robotics: Dexterous Manipulation from Human Demonstration](https://www.mimicrobotics.com/) `company blog 2025` - [Dyna Robotics DYNA-2: scaling human video for commercial dexterity](https://www.dyna.co/) `tech report 2026` - [Skild AI: scaling to 100,000 hours and one-shot video imitation](https://www.skild.ai/) `company blog 2026` - Tactile WAM — World-action model · touch + UMI glove - Reading (114) - Reinforcement Learning (25) - Locomotion (1) - [Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion](https://arxiv.org/abs/2608.15766) `IEEE Humanoids 2026` - Dexterous manipulation (4) - [Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing](https://arxiv.org/abs/2312.01853) `arXiv 2023` - [Rotating without Seeing: Towards In-hand Dexterity through Touch](https://arxiv.org/abs/2303.10880) `RSS 2023` - [EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation](https://arxiv.org/abs/2408.06265) `arXiv 2024` - [DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model](https://arxiv.org/abs/2510.08556) `ICLR 2026` - Whole-body loco-manipulation (2) - [ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning](https://arxiv.org/abs/2510.05070) `arXiv 2025` - [HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model](https://arxiv.org/abs/2602.11758) `arXiv 2026` - Model-based & world-model RL (17) - [Learning Latent Dynamics for Planning from Pixels](https://arxiv.org/abs/1811.04551) `ICML 2018` - [Dream to Control: Learning Behaviors by Latent Imagination](https://arxiv.org/abs/1912.01603) `ICLR 2019` - [Mastering Atari with Discrete World Models](https://arxiv.org/abs/2010.02193) `ICLR 2020` - [DayDreamer: World Models for Physical Robot Learning](https://arxiv.org/abs/2206.14176) `CoRL 2022` - [Temporal Difference Learning for Model Predictive Control](https://arxiv.org/abs/2203.04955) `ICML 2022` - [Transformers are Sample-Efficient World Models](https://arxiv.org/abs/2209.00588) `ICLR 2022` - [STORM: Efficient Stochastic Transformer based World Models for Reinforcement Learning](https://arxiv.org/abs/2310.09615) `NeurIPS 2023` - [DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning](https://arxiv.org/abs/2411.04983) `ICML 2024` - [Diffusion for World Modeling: Visual Details Matter in Atari](https://arxiv.org/abs/2405.12399) `NeurIPS 2024` - [Navigation World Models](https://arxiv.org/abs/2412.03572) `CVPR 2024` - [Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability](https://arxiv.org/abs/2405.17398) `NeurIPS 2024` - [GAIA-2: A Controllable Multi-View Generative World Model for Autonomous Driving](https://arxiv.org/abs/2503.20523) `arXiv 2025` - [Mastering Diverse Domains through World Models](https://arxiv.org/abs/2301.04104) `Nature 2025` - [PWM: Policy Learning with Multi-Task World Models](https://arxiv.org/abs/2407.02466) `ICLR 2025` - [Training Agents Inside of Scalable World Models](https://arxiv.org/abs/2509.24527) `arXiv 2025` - [Causal World Modeling for Robot Control](https://arxiv.org/abs/2601.21998) `arXiv 2026` - [NavDreamer: Video Models as Zero-Shot 3D Navigators](https://arxiv.org/abs/2602.09765) `IEEE RA-L 2026` - Sim-to-real & real-to-sim (1) - [ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills](https://arxiv.org/abs/2502.01143) `RSS 2025` - Imitation Learning (59) - Vision-Language-Action models (2) - [Audio-VLA: Adding Contact Audio Perception to Vision-Language-Action Model for Robotic Manipulation](https://arxiv.org/abs/2511.09958) `arXiv 2025` - [WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control](https://arxiv.org/abs/2512.11047) `arXiv 2025` - World models & WAM (47) - [World Models](https://doi.org/10.5281/zenodo.1207631) `NeurIPS 2018` - [RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks](https://arxiv.org/abs/2205.02909) `RSS 2022` - [RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools](https://arxiv.org/abs/2306.14447) `CoRL 2023` - [AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation](https://arxiv.org/abs/2407.07889) `RSS 2024` - [Genie: Generative Interactive Environments](https://arxiv.org/abs/2402.15391) `ICML 2024` - [iVideoGPT: Interactive VideoGPTs are Scalable World Models](https://arxiv.org/abs/2405.15223) `NeurIPS 2024` - [AdaWorld: Learning Adaptable World Models with Latent Actions](https://arxiv.org/abs/2503.18938) `ICML 2025` - [DreamGen: Unlocking Generalization in Robot Learning through Video World Models](https://arxiv.org/abs/2505.12705) `arXiv 2025` - [FLARE: Robot Learning with Implicit World Modeling](https://arxiv.org/abs/2505.15659) `arXiv 2025` - [Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation](https://arxiv.org/abs/2508.05635) `arXiv 2025` - [Latent Action Pretraining Through World Modeling](https://arxiv.org/abs/2509.18428) `arXiv 2025` - [Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos](https://arxiv.org/abs/2506.15680) `arXiv 2025` - [RLVR-World: Training World Models with Reinforcement Learning](https://doi.org/10.52202/085713-4177) `NeurIPS 2025` - [Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics](https://arxiv.org/abs/2501.10100) `arXiv 2025` - [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://arxiv.org/abs/2506.09985) `arXiv 2025` - [$ω$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation](https://arxiv.org/abs/2608.06375) `arXiv 2026` - [AIM: Intent-Aware Unified world action Modeling with Spatial Value Maps](https://arxiv.org/abs/2604.11135) `arXiv 2026` - [Being-H0.7: A Latent World-Action Model from Egocentric Videos](https://arxiv.org/abs/2605.00078) `arXiv 2026` - [Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning](https://arxiv.org/abs/2601.16163) `arXiv 2026` - [DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation](https://arxiv.org/abs/2608.20114) `arXiv 2026` - [Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation](https://arxiv.org/abs/2606.08737) `arXiv 2026` - [DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos](https://arxiv.org/abs/2602.06949) `ICML 2026` - [EV-WM: Event-Verified World Models for Long-Horizon Robotic Manipulation](https://arxiv.org/abs/2606.13053) `arXiv 2026` - [EgoPhys: Learning Generalizable Physics Models of Deformable Objects from Egocentric Video](https://arxiv.org/abs/2606.16202) `arXiv 2026` - [From World Models to World Action Models: A Concise Tutorial for Robotics](https://arxiv.org/abs/2607.00836) `arXiv 2026` - [GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions](https://arxiv.org/abs/2608.06332) `arXiv 2026` - [HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulation](https://arxiv.org/abs/2606.10363) `arXiv 2026` - [JoyAI-RA 0.5: Scaling Robot Manipulation Learning via Dual Action Alignment](https://arxiv.org/abs/2608.05674) `arXiv 2026` - [LAWM-3D: Learning 3D-Aware Latent Actions from Human Videos for Generalizable Robot World Models](https://arxiv.org/abs/2608.05706) `arXiv 2026` - [LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation](https://arxiv.org/abs/2608.07746) `IEEE Humanoids 2026` - [LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies](https://arxiv.org/abs/2606.15768) `arXiv 2026` - [MobileWAM: Bridging World Action Models to Mobile Manipulation with Chain-of-Foresight](https://arxiv.org/abs/2608.04657) `arXiv 2026` - [MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation](https://arxiv.org/abs/2606.09215) `arXiv 2026` - [OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation](https://arxiv.org/abs/2605.06481) `arXiv 2026` - [OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation](https://arxiv.org/abs/2603.19201) `arXiv 2026` - [PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulation](https://arxiv.org/abs/2601.03782) `arXiv 2026` - [RoboCurate: Harnessing Diversity with Action-Verified Neural Trajectory for Robot Learning](https://arxiv.org/abs/2602.18742) `arXiv 2026` - [Robots Need More than VLA and World Models](https://arxiv.org/abs/2606.06556) `arXiv 2026` - [TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation](https://arxiv.org/abs/2606.11184) `arXiv 2026` - [Tactile-WAM: Touch-Aware World Action Model with Tactile Asymmetric Attention](https://arxiv.org/abs/2606.26663) `arXiv 2026` - [VLA-JEPA: Enhancing Vision-Language-Action Model with Latent World Model](https://arxiv.org/abs/2602.10098) `arXiv 2026` - [VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation](https://arxiv.org/abs/2607.02503) `arXiv 2026` - [World Action Models are Zero-shot Policies](https://arxiv.org/abs/2602.15922) `arXiv 2026` - [World Model for Robot Learning: A Comprehensive Survey](https://arxiv.org/abs/2605.00080) `arXiv 2026` - [World Models for Robotic Manipulation: A Survey](https://arxiv.org/abs/2606.00113) `arXiv 2026` - [World-Language-Action Model for Unified World Modeling, Language Reasoning, and Action Synthesis](https://arxiv.org/abs/2606.05979) `arXiv 2026` - [A review of learning-­based dynamics models for robotic manipulation](https://doi.org/10.1126/scirobotics.adt1497) `Science Robotics` - Learning from human video (3) - [Latent Action Pretraining from Videos](https://arxiv.org/abs/2410.11758) `ICLR 2024` - [EgoMimic: Scaling Imitation Learning via Egocentric Video](https://arxiv.org/abs/2410.24221) `ICRA 2025` - [EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data](https://arxiv.org/abs/2602.16710) `arXiv 2026` - Data scaling & cross-embodiment (1) - [Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning](https://arxiv.org/abs/2607.14183) `arXiv 2026` - Tactile & contact learning (6) - [See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation](https://arxiv.org/abs/2212.03858) `arXiv 2022` - [Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation](https://arxiv.org/abs/2405.08576) `arXiv 2024` - [ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data](https://arxiv.org/abs/2406.19464) `arXiv 2024` - [Visual-auditory Extrinsic Contact Estimation](https://arxiv.org/abs/2409.14608) `arXiv 2024` - [Deform360: A Massive Multi-view Visuotactile Dataset for Deformable World Models](https://arxiv.org/abs/2607.05390) `arXiv 2026` - [EgoEMG: A Multimodal Egocentric Dataset with Bilateral EMG and Vision for Hand Pose Estimation](https://arxiv.org/abs/2605.05712) `arXiv 2026` - Hardware & Systems (30) - Data-collection interfaces (9) - [DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation](https://arxiv.org/abs/2403.07788) `RSS 2024` - [UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers](https://arxiv.org/abs/2407.10353) `CoRL 2024` - [Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots](https://arxiv.org/abs/2402.10329) `RSS 2024` - [DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove](https://arxiv.org/abs/2502.07730) `RSS 2025` - [DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation](https://arxiv.org/abs/2505.21864) `CoRL 2025` - [Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations](https://arxiv.org/abs/2602.06643) `arXiv 2026` - [RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning](https://arxiv.org/abs/2606.06033) `arXiv 2026` - [Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback](https://arxiv.org/abs/2606.14218) `arXiv 2026` - [WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning](https://arxiv.org/abs/2606.13232) `arXiv 2026` - Dexterous hands (1) - [MM-Hand: A 21-DOF Multi-modal Modular Dexterous Robotic Hand with Remote Actuation](https://arxiv.org/abs/2604.17245) `arXiv 2026` - Tactile sensing hardware (10) - [GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force](https://doi.org/10.3390/s17122762) `Sensors 2017` - [DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation](https://arxiv.org/abs/2005.14679) `IEEE RA-L 2020` - [ReSkin: versatile, replaceable, lasting tactile skins](https://arxiv.org/abs/2111.00071) `CoRL 2021` - [AnySkin: Plug-and-play Skin Sensing for Robotic Touch](https://arxiv.org/abs/2409.08276) `arXiv 2024` - [SonicSense: Object Perception from In-Hand Acoustic Vibration](https://arxiv.org/abs/2406.17932) `arXiv 2024` - [DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation](https://arxiv.org/abs/2509.18830) `CoRL 2025` - [MicCheck: Repurposing Off-the-Shelf Pin Microphones for Easy and Low-Cost Contact Sensing](https://arxiv.org/abs/2511.18299) `arXiv 2025` - [VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation](https://arxiv.org/abs/2504.15535) `arXiv 2025` - [OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies](https://arxiv.org/abs/2607.03723) `arXiv 2026` - [RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation](https://arxiv.org/abs/2606.31836) `arXiv 2026` - Simulators & benchmarks (6) - [PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos](https://arxiv.org/abs/2503.17973) `ICCV 2025` - [WorldEval: World Model as Real-World Robot Policies Evaluator](https://arxiv.org/abs/2505.19017) `arXiv 2025` - [Interactive World Simulator for Robot Policy Training and Evaluation](https://arxiv.org/abs/2603.08546) `arXiv 2026` - [RoboGaze: Evaluating Robot World Models via Structured Vision-Language Analysis](https://arxiv.org/abs/2606.28385) `arXiv 2026` - [Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters](https://arxiv.org/abs/2603.04057) `arXiv 2026` - [WorldArena 2.0: Extending Embodied World Model Benchmarking on Modality, Functionality and Platform](https://arxiv.org/abs/2605.17912) `arXiv 2026` - Planning & control (1) - [BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics](https://arxiv.org/abs/2412.09584) `ICLR 2024` - Perception & state estimation (1) - [Omnidirectional Dual-Arm Aerial Manipulator with Proprioceptive Contact Localization for Landing on Slanted Roofs](https://arxiv.org/abs/2602.10703) `ICRA 2026` - Agentic & auto-research systems (2) - [Sunday Robotics: Gelato Foundation Model & Skill Capture](https://www.humanoidsdaily.com/news/sunday-unveils-memo-a-wheeled-domestic-robot-that-learns-from-200-gloves) `company blog 2025` - [Dyna Robotics DYNA-2: scaling human video for commercial dexterity](https://www.dyna.co/) `tech report 2026` ## PAST PROJECTS - GeoDex — Geometry-driven dexterity - Reading (88) - Reinforcement Learning (26) - Dexterous manipulation (20) - [Learning Dexterous In-Hand Manipulation](https://arxiv.org/abs/1808.00177) `IJRR 2018` - [A System for General In-Hand Object Re-Orientation](https://hdl.handle.net/1721.1/143155) `CoRL 2021` - [In-Hand Object Rotation via Rapid Motor Adaptation](https://arxiv.org/abs/2210.04887) `CoRL 2022` - [Learning to Use Chopsticks in Diverse Gripping Styles](https://arxiv.org/abs/2205.14313) `SIGGRAPH / TOG 2022` - [Cherry-Picking with Reinforcement Learning: Robust Dynamic Grasping in Unstable Conditions](https://arxiv.org/abs/2303.05508) `RSS 2023` - [DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality](https://arxiv.org/abs/2210.13702) `ICRA 2023` - [Dexterous Functional Grasping](https://arxiv.org/abs/2312.02975) `CoRL 2023` - [Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing](https://arxiv.org/abs/2312.01853) `arXiv 2023` - [Rotating without Seeing: Towards In-hand Dexterity through Touch](https://arxiv.org/abs/2303.10880) `RSS 2023` - [Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes](https://arxiv.org/abs/2211.11744) `Science Robotics 2023` - [AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch](https://arxiv.org/abs/2405.07391) `arXiv 2024` - [Lessons from Learning to Spin "Pens"](https://arxiv.org/abs/2407.18902) `CoRL 2024` - [ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes](https://arxiv.org/abs/2506.14317) `CoRL 2025` - [Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration](https://arxiv.org/abs/2509.09671) `CoRL 2025` - [Hierarchical Reinforcement Learning for Articulated Tool Manipulation with Multifingered Hand](https://arxiv.org/abs/2507.06822) `IROS 2025` - [In-Hand Manipulation of Articulated Tools with Dexterous Robot Hands with Sim-to-Real Transfer](https://arxiv.org/abs/2509.23075) `arXiv 2025` - [Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation](https://arxiv.org/abs/2601.02778) `arXiv 2026` - [DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model](https://arxiv.org/abs/2510.08556) `ICLR 2026` - [FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulation](https://arxiv.org/abs/2603.10451) `arXiv 2026` - [Grasp to Act: Dexterous Grasping for Tool Use in Dynamic Settings](https://arxiv.org/abs/2602.20466) `arXiv 2026` - RL post-training on foundation models (1) - [Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention](https://arxiv.org/abs/2605.15157) `arXiv 2026` - Model-based & world-model RL (1) - [Temporal Difference Learning for Model Predictive Control](https://arxiv.org/abs/2203.04955) `ICML 2022` - Sim-to-real & real-to-sim (4) - [Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids](https://arxiv.org/abs/2502.20396) `arXiv 2025` - [DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation](https://arxiv.org/abs/2605.05241) `arXiv 2026` - [SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation](https://arxiv.org/abs/2602.16863) `arXiv 2026` - [Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video](https://arxiv.org/abs/2606.08828) `arXiv 2026` - Imitation Learning (21) - Visuomotor policy architectures (1) - [Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation](https://arxiv.org/abs/2011.06719) `ICRA 2021` - Vision-Language-Action models (1) - [Audio-VLA: Adding Contact Audio Perception to Vision-Language-Action Model for Robotic Manipulation](https://arxiv.org/abs/2511.09958) `arXiv 2025` - World models & WAM (1) - [Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation](https://arxiv.org/abs/2606.08737) `arXiv 2026` - Learning from human video (9) - [Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations](https://arxiv.org/abs/2008.00101) `IROS 2020` - [DexMV: Imitation Learning for Dexterous Manipulation from Human Videos](https://arxiv.org/abs/2108.05877) `ECCV 2022` - [VideoDex: Learning Dexterity from Internet Videos](https://arxiv.org/abs/2212.04498) `CoRL 2022` - [Phantom: Training Robots Without Robots Using Only Human Videos](https://arxiv.org/abs/2503.00779) `arXiv 2025` - [Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrations](https://arxiv.org/abs/2507.00990) `ICLR 2025` - [Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data](https://arxiv.org/abs/2608.02580) `arXiv 2026` - [EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations](https://arxiv.org/abs/2606.12604) `arXiv 2026` - [EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data](https://arxiv.org/abs/2602.16710) `arXiv 2026` - [HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos](https://arxiv.org/abs/2605.24934) `arXiv 2026` - Retargeting & teleoperation (5) - [DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System](https://arxiv.org/abs/1910.03135) `ICRA 2019` - [AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](https://arxiv.org/abs/2307.04577) `RSS 2023` - [Dex-Retargeting: A Unified Motion Retargeting Library for Dexterous Hands](https://github.com/dexsuite/dex-retargeting) `software 2023` - [Analyzing Key Objectives in Human-to-Robot Retargeting for Dexterous Manipulation](https://arxiv.org/abs/2506.09384) `arXiv 2025` - [C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video](https://arxiv.org/abs/2608.07045) `arXiv 2026` - Tactile & contact learning (4) - [See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation](https://arxiv.org/abs/2212.03858) `arXiv 2022` - [Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation](https://arxiv.org/abs/2405.08576) `arXiv 2024` - [ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data](https://arxiv.org/abs/2406.19464) `arXiv 2024` - [EgoEMG: A Multimodal Egocentric Dataset with Bilateral EMG and Vision for Hand Pose Estimation](https://arxiv.org/abs/2605.05712) `arXiv 2026` - Hardware & Systems (41) - Open-source arms & bimanual (1) - [LeRobot / SO-100 & SO-101: Standard Open Arm](https://github.com/huggingface/lerobot) `open hardware 2024` - Data-collection interfaces (9) - [HASHI: Highly Adaptable Seafood Handling Instrument for Manipulation in Industrial Settings](https://arxiv.org/abs/2311.02277) `arXiv 2023` - [ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation](https://arxiv.org/abs/2408.11805) `arXiv 2024` - [DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation](https://arxiv.org/abs/2403.07788) `RSS 2024` - [Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots](https://arxiv.org/abs/2402.10329) `RSS 2024` - [DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove](https://arxiv.org/abs/2502.07730) `RSS 2025` - [DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation](https://arxiv.org/abs/2505.21864) `CoRL 2025` - [Exo-ViHa: A Cross-Platform Exoskeleton System with Visual and Haptic Feedback for Efficient Dexterous Skill Learning](https://arxiv.org/abs/2503.01543) `arXiv 2025` - [EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos](https://arxiv.org/abs/2607.09701) `arXiv 2026` - [RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning](https://arxiv.org/abs/2606.06033) `arXiv 2026` - Dexterous hands (15) - [The DLR Hand Arm System](https://doi.org/10.1109/icra.2011.5980371) `ICRA 2011` - [Allegro Hand](https://www.wonikrobotics.com/robot-hand) `commercial 2012` - [A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks](https://doi.org/10.1007/978-3-319-43488-9_18) `SAB 2016` - [Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints](https://arxiv.org/abs/2308.02453) `2023 IEEE-RAS 22nd International Confere 2023` - [LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning](https://arxiv.org/abs/2309.06440) `RSS 2023` - [1X Redwood Hand / NEO](https://www.1x.tech/neo) `industry 2025` - [DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation](https://arxiv.org/abs/2507.01008) `arXiv 2025` - [ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning](https://arxiv.org/abs/2504.04259) `IROS 2025` - [RUKA: Rethinking the Design of Humanoid Hands with Learning](https://arxiv.org/abs/2504.13165) `CoRL 2025` - [Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning](https://arxiv.org/abs/2608.28578) `arXiv 2026` - [CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance](https://arxiv.org/abs/2603.12120) `arXiv 2026` - [MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand](https://arxiv.org/abs/2607.14487) `arXiv 2026` - [MM-Hand: A 21-DOF Multi-modal Modular Dexterous Robotic Hand with Remote Actuation](https://arxiv.org/abs/2604.17245) `arXiv 2026` - [Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning](https://arxiv.org/abs/2603.26660) `arXiv 2026` - [SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity](https://arxiv.org/abs/2606.14250) `arXiv 2026` - Tactile sensing hardware (9) - [GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force](https://doi.org/10.3390/s17122762) `Sensors 2017` - [DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation](https://arxiv.org/abs/2005.14679) `IEEE RA-L 2020` - [AnySkin: Plug-and-play Skin Sensing for Robotic Touch](https://arxiv.org/abs/2409.08276) `arXiv 2024` - [SonicSense: Object Perception from In-Hand Acoustic Vibration](https://arxiv.org/abs/2406.17932) `arXiv 2024` - [DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation](https://arxiv.org/abs/2509.18830) `CoRL 2025` - [MicCheck: Repurposing Off-the-Shelf Pin Microphones for Easy and Low-Cost Contact Sensing](https://arxiv.org/abs/2511.18299) `arXiv 2025` - [VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation](https://arxiv.org/abs/2504.15535) `arXiv 2025` - [OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies](https://arxiv.org/abs/2607.03723) `arXiv 2026` - [RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation](https://arxiv.org/abs/2606.31836) `arXiv 2026` - Co-design & morphology (1) - [The Foundational Pose as a Selection Mechanism for the Design of Tool-Wielding Multi-Finger Robotic Hands](https://arxiv.org/abs/2409.14158) `arXiv 2024` - Planning & control (1) - [ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation](https://arxiv.org/abs/2409.01652) `CoRL 2024` - Perception & state estimation (1) - [D$^3$Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement](https://arxiv.org/abs/2309.16118) `CoRL 2023` - Agentic & auto-research systems (4) - [Eureka: Human-Level Reward Design via Coding Large Language Models](https://arxiv.org/abs/2310.12931) `ICLR 2024` - [mimic robotics: Dexterous Manipulation from Human Demonstration](https://www.mimicrobotics.com/) `company blog 2025` - [HARBOR: A Harness Framework for Agentic Robot Reinforcement Learning](https://arxiv.org/abs/2606.08610) `arXiv 2026` - [RF-Agent: Automated Reward Function Design via Language Agent Tree Search](https://arxiv.org/abs/2602.23876) `arXiv 2026` - IRIS / MPR — Cinema robot arm - Reading (13) - Reinforcement Learning (3) - RL post-training on foundation models (3) - [Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning](https://arxiv.org/abs/2410.21845) `arXiv 2024` - [SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning](https://arxiv.org/abs/2401.16013) `ICRA 2024` - [Self-Improving Vision-Language-Action Models with Data Generation via Residual RL](https://arxiv.org/abs/2511.00091) `arXiv 2025` - Imitation Learning (7) - Visuomotor policy architectures (4) - [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://arxiv.org/abs/2303.04137) `RSS 2023` - [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://arxiv.org/abs/2304.13705) `RSS 2023` - [3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations](https://arxiv.org/abs/2403.03954) `RSS 2024` - [ALOHA Unleashed: A Simple Recipe for Robot Dexterity](https://arxiv.org/abs/2410.13126) `CoRL 2024` - Vision-Language-Action models (3) - [$π_0$: A Vision-Language-Action Flow Model for General Robot Control](https://doi.org/10.5281/zenodo.20109732) `RSS 2024` - [$π_{0.5}$: a Vision-Language-Action Model with Open-World Generalization](https://arxiv.org/abs/2504.16054) `CoRL 2025` - [Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Better](https://doi.org/10.52202/085713-3439) `NeurIPS 2025` - Hardware & Systems (3) - Open-source arms & bimanual (2) - [ALOHA: A Low-cost Open-source Hardware System for Bimanual Teleoperation](https://tonyzhaozh.github.io/aloha/) `RSS 2023` - [GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators](https://arxiv.org/abs/2309.13037) `IROS 2024` - Humanoid & legged platforms (1) - [Design and Control of a Bipedal Robotic Character](https://doi.org/10.15607/rss.2024.xx.103) `RSS 2024` - Exoskeleton / Sim-to-real — Wearable robotics - Reading (13) - Reinforcement Learning (1) - Locomotion (1) - [Delayed Output Feedback Control for Gait Assistance With a Robotic Hip Exoskeleton](https://doi.org/10.1109/tro.2019.2913318) `IEEE T-RO 2019` - Imitation Learning (1) - Retargeting & teleoperation (1) - [X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting](https://arxiv.org/abs/2606.07934) `arXiv 2026` - Hardware & Systems (11) - Data-collection interfaces (6) - [ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation](https://arxiv.org/abs/2408.11805) `arXiv 2024` - [AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons](https://arxiv.org/abs/2503.03081) `CoRL 2025` - [DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation](https://arxiv.org/abs/2505.21864) `CoRL 2025` - [Exo-ViHa: A Cross-Platform Exoskeleton System with Visual and Haptic Feedback for Efficient Dexterous Skill Learning](https://arxiv.org/abs/2503.01543) `arXiv 2025` - [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://arxiv.org/abs/2502.13013) `arXiv 2025` - [Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback](https://arxiv.org/abs/2606.14218) `arXiv 2026` - Humanoid & legged platforms (5) - [Online Reinforcement Learning Control for the Personalization of a Robotic Knee Prosthesis](https://doi.org/10.1109/tcyb.2019.2890974) `IEEE T-Cybernetics 2019` - [THRIVE: Therapeutic Humanoid Robot In Virtual Environment](https://arxiv.org/abs/2608.14462) `arXiv 2026` - Task-Agnostic and Device-Agnostic Exoskeleton Control via Reinforcement Learning and Mixture of Experts `IEEE T-RO 2026` - Design and Modeling of Bio-Inspired Shoulder Exoskeleton with Cable-Driven Quasi-Direct Drive Actuation: Misalignment Compensation and Interference Mitigation `IEEE T-RO` - End-to-End Assistive Torque Control for Lower-Limb Exoskeleton via Sim-to-Real Reinforcement Learning and Curriculum Learning `IEEE T-RO` ## THE THREE TREES - Reinforcement Learning (203) - Algorithmic foundations (10) - [Human-level control through deep reinforcement learning](https://doi.org/10.1038/nature14236) `Nature 2015` - [Trust Region Policy Optimization](http://proceedings.mlr.press/v37/schulman15.pdf) `ICML 2015` - [Proximal Policy Optimization Algorithms](https://arxiv.org/abs/1707.06347) `arXiv 2017` - [Addressing Function Approximation Error in Actor-Critic Methods](https://arxiv.org/abs/1802.09477) `ICML 2018` - [An Introduction to Deep Reinforcement Learning](https://doi.org/10.1561/2200000071) `Foundations and Trends® in Machine Learning 2018` - [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://arxiv.org/abs/1801.01290) `ICML 2018` - [Image-based Deep Reinforcement Learning for Autonomous Lunar Landing](https://doi.org/10.2514/6.2020-1910) `AIAA Scitech 2020 Forum 2020` - [Distilling Morphology-Conditioned Hypernetworks for Efficient Universal Morphology Control](https://arxiv.org/abs/2402.06570) `arXiv 2024` - [GCNT: Graph-Based Transformer Policies for Morphology-Agnostic Reinforcement Learning](https://arxiv.org/abs/2505.15211) `arXiv 2025` - [Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation](https://arxiv.org/abs/2505.05287) `CoRL 2025` - Locomotion (33) - [Delayed Output Feedback Control for Gait Assistance With a Robotic Hip Exoskeleton](https://doi.org/10.1109/tro.2019.2913318) `IEEE T-RO 2019` - [Learning agile and dynamic motor skills for legged robots](https://arxiv.org/abs/1901.08652) `Science Robotics 2019` - [Learning Quadrupedal Locomotion over Challenging Terrain](https://arxiv.org/abs/2010.11251) `Science Robotics 2020` - [Multi-expert learning of adaptive legged locomotion](https://doi.org/10.1126/scirobotics.abb2174) `Science Robotics 2020` - [Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning](https://arxiv.org/abs/2109.11978) `CoRL 2021` - [RMA: Rapid Motor Adaptation for Legged Robots](https://arxiv.org/abs/2107.04034) `RSS 2021` - [Learning robust perceptive locomotion for quadrupedal robots in the wild](https://arxiv.org/abs/2201.08117) `Science Robotics 2022` - [Optimization-Based Control for Dynamic Legged Robots](https://arxiv.org/abs/2211.11644) `arXiv 2022` - [ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots](https://arxiv.org/abs/2306.14874) `Science Robotics 2024` - [Extreme Parkour with Legged Robots](https://arxiv.org/abs/2309.14341) `ICRA 2024` - [Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion](https://arxiv.org/abs/2408.02662) `arXiv 2024` - [Learning-based legged locomotion; state of the art and future perspectives](https://arxiv.org/abs/2406.01152) `IEEE Humanoids 2024` - [Real-World Humanoid Locomotion with Reinforcement Learning](https://arxiv.org/abs/2303.03381) `Science Robotics 2024` - [A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion](https://arxiv.org/abs/2502.03206) `arXiv 2025` - [Attention-Based Map Encoding for Learning Generalized Legged Locomotion](https://arxiv.org/abs/2506.09588) `Science Robotics 2025` - [Booster Gym: An End-to-End Reinforcement Learning Framework for Humanoid Robot Locomotion](https://doi.org/10.1007/978-981-95-6825-3_19) `Lecture Notes in Electrical Engineering 2025` - [Learning Getting-Up Policies for Real-World Humanoid Robots](https://arxiv.org/abs/2502.12152) `arXiv 2025` - [Learning to Get Up Across Morphologies: Zero-Shot Recovery with a Unified Humanoid Policy](https://arxiv.org/abs/2512.12230) `arXiv 2025` - [MoE-Loco: Mixture of Experts for Multitask Locomotion](https://arxiv.org/abs/2503.08564) `arXiv 2025` - [Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion](https://repository.hkust.edu.hk/ir/usage-metrics/download/1783.1-171732) `Rare & Special e-Zone (The Hong Kong Univers 2025` - [Unified Humanoid Fall-Safety Policy from a Few Demonstrations](https://arxiv.org/abs/2511.07407) `arXiv 2025` - [Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning](https://arxiv.org/abs/2606.08064) `Nature 2026` - [Genetic Fuzzy System-Based Multi-Robot Coordination for Planetary Missions](https://arxiv.org/abs/2608.12755) `arXiv 2026` - [HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments](https://arxiv.org/abs/2608.12860) `arXiv 2026` - [KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots](https://doi.org/10.1109/tmech.2026.3721778) `IEEE/ASME T-Mech 2026` - [Learning Agile Navigation in Crowded Environments for Quadruped Robots](https://arxiv.org/abs/2607.15036) `arXiv 2026` - [Multi-Robot Box Transport over Different Surfaces with Decentralized Role-based Proportional Control](https://arxiv.org/abs/2605.26430) `arXiv 2026` - [Phase Relationship between Spinal Motion and Limb Support Determines High-speed Running Performance in a Cheetah Model with Asymmetric Spinal Stiffness](https://arxiv.org/abs/2604.00329) `arXiv 2026` - [Scalable and General Whole-Body Control for Cross-Humanoid Locomotion](https://arxiv.org/abs/2602.05791) `arXiv 2026` - [Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion](https://arxiv.org/abs/2608.15766) `IEEE Humanoids 2026` - [Teleopit: A Full-Embodiment Humanoid Teleoperation System](https://arxiv.org/abs/2608.01834) `arXiv 2026` - [UniReLo: Learning a Unified Humanoid Policy from Fall Recovery to Locomotion across Diverse Terrains](https://arxiv.org/abs/2606.08922) `arXiv 2026` - Modeling, Control, and Learning for Quadrupedal and Bipedal Locomotion: Perspective Review - Motion imitation & characters (17) - [DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills](https://arxiv.org/abs/1804.02717) `SIGGRAPH 2018` - [AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control](https://escholarship.org/uc/item/9rh2t6tt) `SIGGRAPH 2021` - [ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters](https://arxiv.org/abs/2205.01906) `SIGGRAPH 2022` - [Perpetual Humanoid Control for Real-time Simulated Avatars](https://arxiv.org/abs/2305.06456) `ICCV 2023` - [ExBody2: Advanced Expressive Humanoid Whole-Body Control](https://arxiv.org/abs/2412.13196) `arXiv 2024` - [MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting](https://arxiv.org/abs/2409.14393) `SIGGRAPH Asia 2024` - [BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion](https://doi.org/10.1126/scirobotics.adx8924) `Science Robotics 2025` - [Heavy lifting tasks via haptic teleoperation of a wheeled humanoid](https://arxiv.org/abs/2505.19530) `IEEE Humanoids 2025` - [Physics-Based Motion Imitation with Adversarial Differential Discriminators](https://arxiv.org/abs/2505.04961) `SIGGRAPH Asia 2025` - [Physics-Based Motion Imitation with Adversarial Differential Discriminators](https://doi.org/10.1145/3757377.3763819) `SIGGRAPH Asia 2025` - [Towards Adaptable Humanoid Control via Adaptive Motion Tracking](https://arxiv.org/abs/2510.14454) `arXiv 2025` - [Visual Imitation Enables Contextual Humanoid Control](https://arxiv.org/abs/2505.03729) `arXiv 2025` - [VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation](https://arxiv.org/abs/2509.20322) `arXiv 2025` - [A Kung Fu Athlete Bot That Can Do It All Day: Highly Dynamic, Balance-Challenging Motion Dataset and Autonomous Fall-Resilient Tracking](https://arxiv.org/abs/2602.13656) `arXiv 2026` - [Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Open-World Contact Localization](https://arxiv.org/abs/2606.10743) `arXiv 2026` - [StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior](https://arxiv.org/abs/2608.02385) `arXiv 2026` - [DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills](https://doi.org/10.1145/3197517.3201311) `SIGGRAPH` - Dexterous manipulation (30) - [Learning Dexterous In-Hand Manipulation](https://arxiv.org/abs/1808.00177) `IJRR 2018` - [A System for General In-Hand Object Re-Orientation](https://hdl.handle.net/1721.1/143155) `CoRL 2021` - [In-Hand Object Rotation via Rapid Motor Adaptation](https://arxiv.org/abs/2210.04887) `CoRL 2022` - [Learning to Use Chopsticks in Diverse Gripping Styles](https://arxiv.org/abs/2205.14313) `SIGGRAPH / TOG 2022` - [Cherry-Picking with Reinforcement Learning: Robust Dynamic Grasping in Unstable Conditions](https://arxiv.org/abs/2303.05508) `RSS 2023` - [DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality](https://arxiv.org/abs/2210.13702) `ICRA 2023` - [Dexterous Functional Grasping](https://arxiv.org/abs/2312.02975) `CoRL 2023` - [Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing](https://arxiv.org/abs/2312.01853) `arXiv 2023` - [Rotating without Seeing: Towards In-hand Dexterity through Touch](https://arxiv.org/abs/2303.10880) `RSS 2023` - [Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes](https://arxiv.org/abs/2211.11744) `Science Robotics 2023` - [ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly](https://arxiv.org/abs/2409.16451) `2024` - [AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch](https://arxiv.org/abs/2405.07391) `arXiv 2024` - [EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation](https://arxiv.org/abs/2408.06265) `arXiv 2024` - [FFHFlow: Diverse and Uncertainty-Aware Dexterous Grasp Generation via Flow Variational Inference](https://arxiv.org/abs/2407.15161) `2024` - [From Imitation to Refinement -- Residual RL for Precise Assembly](https://arxiv.org/abs/2407.16677) `arXiv 2024` - [Lessons from Learning to Spin "Pens"](https://arxiv.org/abs/2407.18902) `CoRL 2024` - [Catch It! Learning to Catch in Flight with Mobile Dexterous Hands](https://arxiv.org/abs/2409.10319) `ICRA 2025` - [ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes](https://arxiv.org/abs/2506.14317) `CoRL 2025` - [Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration](https://arxiv.org/abs/2509.09671) `CoRL 2025` - [Hierarchical Reinforcement Learning for Articulated Tool Manipulation with Multifingered Hand](https://arxiv.org/abs/2507.06822) `IROS 2025` - [In-Hand Manipulation of Articulated Tools with Dexterous Robot Hands with Sim-to-Real Transfer](https://arxiv.org/abs/2509.23075) `arXiv 2025` - [Robust Visual Servoing under Human Supervision for Assembly Tasks](https://arxiv.org/abs/2504.12506) `arXiv 2025` - [Sim-to-Real Gentle Manipulation of Deformable and Fragile Objects with Stress-Guided Reinforcement Learning](https://arxiv.org/abs/2510.25405) `arXiv 2025` - [Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers](https://arxiv.org/abs/2607.14578) `IROS 2026` - [Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation](https://arxiv.org/abs/2601.02778) `arXiv 2026` - [DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model](https://arxiv.org/abs/2510.08556) `ICLR 2026` - [FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulation](https://arxiv.org/abs/2603.10451) `arXiv 2026` - [Grasp to Act: Dexterous Grasping for Tool Use in Dynamic Settings](https://arxiv.org/abs/2602.20466) `arXiv 2026` - [ORCA: A Platform for Open-Source Dexterity Research](https://arxiv.org/abs/2606.14561) `arXiv 2026` - [RoboStriker: Latent-Space Strategic Games for Autonomous Humanoid Boxing](https://arxiv.org/abs/2608.16195) `IEEE Humanoids 2026` - Whole-body loco-manipulation (37) - [Whole-Body Control of a Mobile Manipulator using End-to-End Reinforcement Learning](https://arxiv.org/abs/2003.02637) `arXiv 2020` - [Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion](https://arxiv.org/abs/2210.10044) `CoRL 2022` - [Dynamic Mobile Manipulation via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid](https://arxiv.org/abs/2307.01350) `arXiv 2023` - [Hierarchical Adaptive Motion Planning with Nonlinear Model Predictive Control for Safety-Critical Collaborative Loco-Manipulation](https://arxiv.org/abs/2411.10699) `arXiv 2024` - [Safe Expeditious Whole-Body Control of Mobile Manipulators for Collision Avoidance](https://arxiv.org/abs/2409.14775) `arXiv 2024` - [Wheeled Humanoid Bilateral Teleoperation with Position-Force Control Modes for Dynamic Loco-Manipulation](https://arxiv.org/abs/2407.12189) `arXiv 2024` - [AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control](https://arxiv.org/abs/2505.03738) `arXiv 2025` - [DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation](https://arxiv.org/abs/2510.11258) `arXiv 2025` - [Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning](https://arxiv.org/abs/2505.12278) `IEEE Humanoids 2025` - [FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation](https://arxiv.org/abs/2505.06776) `arXiv 2025` - [HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots](https://doi.org/10.1109/ICRA55743.2025.11128549) `ICRA 2025` - [Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching](https://arxiv.org/abs/2508.03068) `arXiv 2025` - [Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation](https://arxiv.org/abs/2511.21169) `arXiv 2025` - [Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation](https://arxiv.org/abs/2505.20829) `CoRL 2025` - [ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning](https://arxiv.org/abs/2510.05070) `arXiv 2025` - [Shared Object Manipulation with a Team of Collaborative Quadrupeds](https://arxiv.org/abs/2510.00682) `IEEE Humanoids 2025` - [Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next](https://arxiv.org/abs/2512.07765) `arXiv 2025` - [Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation](https://arxiv.org/abs/2508.09846) `arXiv 2025` - [ACLM: ADMM-Based Distributed Model Predictive Control for Collaborative Loco-Manipulation](https://arxiv.org/abs/2603.07095) `arXiv 2026` - [Dyna-2.1: A Physical Agent for End-to-End Workflows](https://www.dyna.co/dyna-2.1) `Technical report 2026` - [DynaMOMA: Instantaneous Prediction of Grasp Poses for Mobile Manipulation of Dynamic Objects](https://arxiv.org/abs/2606.25295) `arXiv 2026` - [FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation](https://arxiv.org/abs/2606.24466) `arXiv 2026` - [FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences](https://arxiv.org/abs/2608.17027) `arXiv 2026` - [HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model](https://arxiv.org/abs/2602.11758) `arXiv 2026` - [HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers](https://arxiv.org/abs/2606.06493) `arXiv 2026` - [Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum](https://arxiv.org/abs/2605.21133) `arXiv 2026` - [Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control](https://arxiv.org/abs/2608.19443) `IEEE Humanoids 2026` - [Learning Dynamic Pick-and-Place for a Legged Manipulator](https://doi.org/10.1109/lra.2026.3688092) `IEEE RA-L 2026` - [Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL](https://arxiv.org/abs/2608.12063) `arXiv 2026` - [Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation](https://arxiv.org/abs/2605.31343) `IEEE RA-L 2026` - [OpenHEART: Opening Heterogeneous Articulated Objects with a Legged Manipulator](https://arxiv.org/abs/2603.05830) `ICRA 2026` - [PAINT: Partner-Agnostic Intent-Aware Cooperative Transport with Legged Robots](https://doi.org/10.1109/lra.2026.3730304) `IEEE RA-L 2026` - [RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation](https://arxiv.org/abs/2608.03387) `IEEE Humanoids 2026` - [Task-Oriented Robot-Human Handovers on Legged Manipulators](https://arxiv.org/abs/2602.05760) `arXiv 2026` - [Video2DoorTraversal: Push Door Traversal via Simulated Door Twins](https://arxiv.org/abs/2608.20251) `arXiv 2026` - [Whole-Body Mobile Manipulation using Offline Reinforcement Learning on Sub-optimal Controllers](https://arxiv.org/abs/2604.12509) `arXiv 2026` - From Sim2Real 1.0 to 4.0 for Humanoid Whole-Body Control and Loco-Manipulation `CoRL` - Multi-agent RL (33) - [Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments](https://doi.org/10.57702/apbqmp7u) `NeurIPS 2017` - [QMIX: Monotonic Value Function Factorisation for Deep Multi-Agent Reinforcement Learning](https://arxiv.org/abs/1803.11485) `ICML 2018` - [Hierarchical Intention Tracking for Robust Human-Robot Collaboration in Industrial Assembly Tasks](https://arxiv.org/abs/2203.09063) `arXiv 2022` - [The Surprising Effectiveness of PPO in Cooperative, Multi-Agent Games](https://arxiv.org/abs/2103.01955) `NeurIPS 2022` - [InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions](https://arxiv.org/abs/2311.12943) `arXiv 2023` - [RoCo: Dialectic Multi-Robot Collaboration with Large Language Models](https://arxiv.org/abs/2307.04738) `arXiv 2023` - [Workspace Optimization Techniques to Improve Prediction of Human Motion During Human-Robot Collaboration](https://arxiv.org/abs/2401.12965) `arXiv 2024` - [A Survey on Improving Human Robot Collaboration through Vision-and-Language Navigation](https://arxiv.org/abs/2512.00027) `arXiv 2025` - [Decentralized Aerial Manipulation of a Cable-Suspended Load using Multi-Agent Reinforcement Learning](https://arxiv.org/abs/2508.01522) `CoRL 2025` - [H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies](https://arxiv.org/abs/2505.17627) `arXiv 2025` - [Leveraging Adaptive Group Negotiation for Heterogeneous Multi-Robot Collaboration with Large Language Models](https://arxiv.org/abs/2602.06967) `arXiv 2025` - [ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots](https://arxiv.org/abs/2607.17007) `arXiv 2026` - [AMR-Pose: An Active LED Marker-Based Relative Pose Estimation Framework With Probabilistic Switching PnP for Cooperative AUVs](https://arxiv.org/abs/2608.12866) `arXiv 2026` - [An O-RAN-Assisted MARL Approach for Dynamic Sidelink and Infrastructure Selection in V2X Communications](https://doi.org/10.1109/tvt.2026.3721784) `IEEE Transactions on Vehicular Technology 2026` - [CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy](https://arxiv.org/abs/2606.12352) `arXiv 2026` - [CUDA MPC: A GPU-Native Solver for Model Predictive Control](https://arxiv.org/abs/2608.03051) `arXiv 2026` - [Compact Latent Coordination for Autonomous Vehicles at Unsignalized Intersections](https://arxiv.org/abs/2607.21488) `arXiv 2026` - [Continual Quadruped Robots Coordination via Semantic Skill Discovery](https://arxiv.org/abs/2606.08102) `arXiv 2026` - [Coverage Path Planning: Classical Foundations, Recent Advances, and Future Directions](https://arxiv.org/abs/2607.10649) `arXiv 2026` - [Decentralized LLM-Driven Coordination of Acoustic Robots for Contactless Object Manipulation](https://arxiv.org/abs/2605.29378) `arXiv 2026` - [Differentiable Belief-based Opponent Shaping](https://arxiv.org/abs/2605.29042) `arXiv 2026` - [Distributed Model Predictive Control with Adaptive Safety Zones for Multi-Fleet Drone Operations](https://arxiv.org/abs/2606.20651) `arXiv 2026` - [EFLUX: Elastic Multi-Robot Formation Navigation and Adaptation with Agentic LLMs](https://arxiv.org/abs/2607.12050) `arXiv 2026` - [From Raw Data to Shared 3D Semantics: Task-Oriented Communication for Multi-Robot Collaboration](https://arxiv.org/abs/2602.08624) `arXiv 2026` - [Human-Guided Co-Manipulation of Carbon Fiber Plies](https://arxiv.org/abs/2606.11818) `arXiv 2026` - [Latent Semantic State Estimation for Reliable Swarming of UAVs under Intermittent Connectivity](https://arxiv.org/abs/2608.08895) `arXiv 2026` - [MIND-CAVs: Multi-Intelligence Negotiation and Decision System for CAVs based on Intent-Driven Autonomy](https://arxiv.org/abs/2607.14688) `arXiv 2026` - [PIMbot: A Self-Adaptive Attack Framework for Adversarial Manipulation of Multi-Robot Reinforcement Learning](https://arxiv.org/abs/2605.23027) `IROS 2026` - [Shape Formation for the Cooperative Transportation of Arbitrary Objects Using Multi-Agent Reinforcement Learning](https://arxiv.org/abs/2606.09610) `arXiv 2026` - [Socially Consistent Multi-Robot Navigation Using Decoupled Planning and Trajectory Coordination](https://doi.org/10.34133/cesci.0025) `Civil Engineering Sciences 2026` - [Structured LLM Reasoning for Zero-Shot Human--Robot Coordination Under Hidden Goals](https://arxiv.org/abs/2608.04309) `arXiv 2026` - [Unveiling Complex Collective Behaviors from Simple Rewards](https://arxiv.org/abs/2607.12861) `Nature 2026` - [XAI-Guided Conservative Decentralized Execution for Offline Multi-Agent Network Slicing](https://arxiv.org/abs/2608.13982) `arXiv 2026` - RL post-training on foundation models (13) - [Efficient Online Reinforcement Learning with Offline Data](https://arxiv.org/abs/2302.02948) `ICML 2023` - [Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning](https://arxiv.org/abs/2410.21845) `arXiv 2024` - [SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning](https://arxiv.org/abs/2401.16013) `ICRA 2024` - [ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy](https://arxiv.org/abs/2502.05450) `RSS 2025` - [Discover, Learn, and Reinforce: Scaling Vision-Language-Action Pretraining with Diverse RL-Generated Trajectories](https://arxiv.org/abs/2511.19528) `arXiv 2025` - [Improving Vision-Language-Action Model with Online Reinforcement Learning](https://arxiv.org/abs/2501.16664) `ICRA 2025` - [Interactive Post-Training for Vision-Language-Action Models](https://arxiv.org/abs/2505.17016) `arXiv 2025` - [RLinf-VLA: A Unified and Efficient Framework for Reinforcement Learning of Vision-Language-Action Models](https://arxiv.org/abs/2510.06710) `RSS 2025` - [STARE-VLA: Progressive Stage-Aware Reinforcement for Fine-Tuning Vision-Language-Action Models](https://arxiv.org/abs/2512.05107) `arXiv 2025` - [Self-Improving Vision-Language-Action Models with Data Generation via Residual RL](https://arxiv.org/abs/2511.00091) `arXiv 2025` - [EXPO-FT: Sample-Efficient Reinforcement Learning Finetuning for Vision-Language-Action Models](https://arxiv.org/abs/2605.25477) `arXiv 2026` - [Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention](https://arxiv.org/abs/2605.15157) `arXiv 2026` - [Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents](https://arxiv.org/abs/2604.13733) `ICRA 2026` - Model-based & world-model RL (19) - [Learning Latent Dynamics for Planning from Pixels](https://arxiv.org/abs/1811.04551) `ICML 2018` - [Dream to Control: Learning Behaviors by Latent Imagination](https://arxiv.org/abs/1912.01603) `ICLR 2019` - [Mastering Atari with Discrete World Models](https://arxiv.org/abs/2010.02193) `ICLR 2020` - [Mastering Atari, Go, Chess and Shogi by Planning with a Learned Model](https://arxiv.org/abs/1911.08265) `Nature 2020` - [DayDreamer: World Models for Physical Robot Learning](https://arxiv.org/abs/2206.14176) `CoRL 2022` - [Temporal Difference Learning for Model Predictive Control](https://arxiv.org/abs/2203.04955) `ICML 2022` - [Transformers are Sample-Efficient World Models](https://arxiv.org/abs/2209.00588) `ICLR 2022` - [STORM: Efficient Stochastic Transformer based World Models for Reinforcement Learning](https://arxiv.org/abs/2310.09615) `NeurIPS 2023` - [DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning](https://arxiv.org/abs/2411.04983) `ICML 2024` - [Diffusion for World Modeling: Visual Details Matter in Atari](https://arxiv.org/abs/2405.12399) `NeurIPS 2024` - [Navigation World Models](https://arxiv.org/abs/2412.03572) `CVPR 2024` - [TD-MPC2: Scalable, Robust World Models for Continuous Control](https://arxiv.org/abs/2310.16828) `ICLR 2024` - [Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability](https://arxiv.org/abs/2405.17398) `NeurIPS 2024` - [GAIA-2: A Controllable Multi-View Generative World Model for Autonomous Driving](https://arxiv.org/abs/2503.20523) `arXiv 2025` - [Mastering Diverse Domains through World Models](https://arxiv.org/abs/2301.04104) `Nature 2025` - [PWM: Policy Learning with Multi-Task World Models](https://arxiv.org/abs/2407.02466) `ICLR 2025` - [Training Agents Inside of Scalable World Models](https://arxiv.org/abs/2509.24527) `arXiv 2025` - [Causal World Modeling for Robot Control](https://arxiv.org/abs/2601.21998) `arXiv 2026` - [NavDreamer: Video Models as Zero-Shot 3D Navigators](https://arxiv.org/abs/2602.09765) `IEEE RA-L 2026` - Sim-to-real & real-to-sim (11) - [Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World](https://arxiv.org/abs/1703.06907) `IROS 2017` - [Planar Robot Casting with Real2Sim2Real Self-Supervised Learning](https://arxiv.org/abs/2111.04814) `ICRA 2022` - [Toward Control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation](https://arxiv.org/abs/2403.10948) `arXiv 2024` - [A Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven Deformable Linear Object Manipulation](https://arxiv.org/abs/2502.18615) `In IEEE Robotics and Automation Letters, 2025` - [ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills](https://arxiv.org/abs/2502.01143) `RSS 2025` - [Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids](https://arxiv.org/abs/2502.20396) `arXiv 2025` - [DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation](https://arxiv.org/abs/2605.05241) `arXiv 2026` - [R2S-EGO: Dual-Proxy Refinement for Sparse-Capture Real-to-Sim](https://arxiv.org/abs/2608.06827) `arXiv 2026` - [SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation](https://arxiv.org/abs/2602.16863) `arXiv 2026` - [SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation](https://arxiv.org/abs/2606.15338) `arXiv 2026` - [Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video](https://arxiv.org/abs/2606.08828) `arXiv 2026` - Imitation Learning (184) - Foundations of imitation (5) - [A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning](https://arxiv.org/abs/1011.0686) `AISTATS 2010` - [Generative Adversarial Imitation Learning](https://arxiv.org/abs/1606.03476) `NeurIPS 2016` - [ALVINN: An Autonomous Land Vehicle in a Neural Network](https://doi.org/10.1184/r1/6603146.v1) `NeurIPS 2018` - [Implicit Behavioral Cloning](https://arxiv.org/abs/2109.00137) `CoRL 2021` - [Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey](https://arxiv.org/abs/2510.10903) `arXiv 2025` - Visuomotor policy architectures (32) - [Human Locomotion under Reduced Gravity Conditions: Biomechanical and Neurophysiological Considerations](https://doi.org/10.1155/2014/547242) `BioMed Research International 2014` - [Comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance](https://doi.org/10.1016/j.jbiomech.2018.11.023) `J. Biomechanics 2018` - [Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation](https://arxiv.org/abs/2011.06719) `ICRA 2021` - [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://arxiv.org/abs/2303.04137) `RSS 2023` - [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://arxiv.org/abs/2304.13705) `RSS 2023` - [RT-1: Robotics Transformer for Real-World Control at Scale](https://arxiv.org/abs/2212.06817) `RSS 2023` - [3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations](https://arxiv.org/abs/2403.03954) `RSS 2024` - [ALOHA Unleashed: A Simple Recipe for Robot Dexterity](https://arxiv.org/abs/2410.13126) `CoRL 2024` - [ActFormer: Scalable Collaborative Perception via Active Queries](https://doi.org/10.1109/ICRA57147.2024.10610997) `ICRA 2024` - [Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation](https://arxiv.org/abs/2405.07503) `RSS 2024` - [NavFormer: A Transformer Architecture for Robot Target-Driven Navigation in Unknown and Dynamic Environments](https://doi.org/10.1109/lra.2024.3412638) `IEEE RA-L 2024` - [Octo: An Open-Source Generalist Robot Policy](https://arxiv.org/abs/2405.12213) `RSS 2024` - [Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation](https://arxiv.org/abs/2408.11812) `CoRL 2024` - [AnyPlace: Learning Generalized Object Placement for Robot Manipulation](https://arxiv.org/abs/2502.04531) `CoRL 2025` - [CLASS: Contrastive Learning via Action Sequence Supervision for Robot Manipulation](https://arxiv.org/abs/2508.01600) `2025` - [Catch It! Learning to Catch in Flight with Mobile Dexterous Hands](https://doi.org/10.1109/ICRA55743.2025.11127596) `ICRA 2025` - [Learning Long-Horizon Robot Manipulation Skills via Privileged Action](https://arxiv.org/abs/2502.15442) `CoRL 2025` - [ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training](https://arxiv.org/abs/2509.01819) `CoRL 2025` - [O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation](https://arxiv.org/abs/2509.06233) `CoRL 2025` - [Primary Experimental Feedback on a Co-manipulated Robotic System for Assisted Cervical Surgery](https://doi.org/10.1007/978-3-032-05466-1_15) `Mechanisms and machine science 2025` - [Robot Learning from Any Images](https://arxiv.org/abs/2509.22970) `arXiv 2025` - [Sharing the Load: Autonomous Multi-Rover Cargo Transport](https://arxiv.org/abs/2510.18766) `arXiv 2025` - [Stable Object Placement Planning From Contact Point Robustness](https://doi.org/10.1109/tro.2025.3577049) `IEEE T-RO 2025` - [A Compact Top-Loading Robot for Endovascular Interventions: Design, Control and Evaluation](https://arxiv.org/abs/2607.11779) `arXiv 2026` - [Communication Reduction via Semantic-Based Encoding in DMPC Using LSTMs](https://arxiv.org/abs/2608.17592) `arXiv 2026` - [When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning](https://arxiv.org/abs/2607.25593) `arXiv 2026` - [DTM: Difference-Based Temporal Module for Monocular Category-Level 6 DoF Object Pose Tracking](https://doi.org/10.21428/d82e957c.f508d99e) `Conference on Robots and Vision` - [Design, Modeling, and Analysis of a Liquid Cooled Proprioceptive Actuator for Legged Robots](https://doi.org/10.1109/aim.2019.8868596) `IEEE/ASME International Conference on Advanc` - [Path-Following Controller Designs for Autonomous and Semi-Autonomous Industrial Motor Graders](https://doi.org/10.21428/d82e957c.4194d20c) `Conference on Robots and Vision` - [Vision-based Autonomous Blood Suction with a Concentric Tube Continuum Robot](https://doi.org/10.21428/d82e957c.e9be1327) `Conference on Robots and Vision` - [X-Nav: Learning End-to-End Cross-Embodiment Navigation for Mobile Robots](https://doi.org/10.1109/lra.2025.3632119) `IEEE RA-L` - [aUToPath: Unified Planning and Control for Autonomous Vehicles in Urban Environments Using Hybrid Lattice and Free-Space Search](https://doi.org/10.21428/d82e957c.409284ce) `Conference on Robots and Vision` - Vision-Language-Action models (25) - [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://arxiv.org/abs/2307.15818) `CoRL 2023` - [$π_0$: A Vision-Language-Action Flow Model for General Robot Control](https://doi.org/10.5281/zenodo.20109732) `RSS 2024` - [OpenVLA: An Open-Source Vision-Language-Action Model](https://arxiv.org/abs/2406.09246) `CoRL 2024` - [$π^{*}_{0.6}$: a VLA That Learns From Experience](https://arxiv.org/abs/2511.14759) `arXiv 2025` - [$π_{0.5}$: a Vision-Language-Action Model with Open-World Generalization](https://arxiv.org/abs/2504.16054) `CoRL 2025` - [Audio-VLA: Adding Contact Audio Perception to Vision-Language-Action Model for Robotic Manipulation](https://arxiv.org/abs/2511.09958) `arXiv 2025` - [Cosmos-Reason1: From Physical Common Sense To Embodied Reasoning](https://arxiv.org/abs/2503.15558) `arXiv 2025` - [DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control](https://arxiv.org/abs/2502.05855) `CoRL 2025` - [Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success](https://arxiv.org/abs/2502.19645) `arXiv 2025` - [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://arxiv.org/abs/2503.14734) `arXiv 2025` - [Gemini Robotics: Bringing AI into the Physical World](https://arxiv.org/abs/2503.20020) `arXiv 2025` - [Helix: A Vision-Language-Action Model for Generalist Humanoid Control](https://www.figure.ai/news/helix) `blog 2025` - [Humanoid Policy ~ Human Policy](https://arxiv.org/abs/2503.13441) `CoRL 2025` - [Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Better](https://doi.org/10.52202/085713-3439) `NeurIPS 2025` - [RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation](https://arxiv.org/abs/2410.07864) `ICLR 2025` - [Slot-Level Robotic Placement via Visual Imitation from Single Human Video](https://arxiv.org/abs/2504.01959) `arXiv 2025` - [TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning](https://arxiv.org/abs/2509.11839) `IEEE Humanoids 2025` - [WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control](https://arxiv.org/abs/2512.11047) `arXiv 2025` - [dVLA: Diffusion Vision-Language-Action Model with Multimodal Chain-of-Thought](https://arxiv.org/abs/2509.25681) `arXiv 2025` - [Exposing the Long-tail in Embodied Urban Navigation via Scalable Learning from In-the-Wild Videos](https://arxiv.org/abs/2608.16476) `arXiv 2026` - [From Foundation to Application: Improving VLA Models in Practice](https://arxiv.org/abs/2607.06403) `arXiv 2026` - [HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL](https://arxiv.org/abs/2608.16837) `IEEE Humanoids 2026` - [Learning Panorama-Aware VLA for Mobile Manipulation with Whole-Body Teleoperation](https://arxiv.org/abs/2608.02257) `arXiv 2026` - [On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning](https://arxiv.org/abs/2605.26649) `IROS 2026` - [VLM4VLA: Revisiting Vision-Language-Models in Vision-Language-Action Models](https://arxiv.org/abs/2601.03309) `arXiv 2026` - In-context & few-shot (4) - [RoboCat: A Self-Improving Generalist Agent for Robotic Manipulation](https://arxiv.org/abs/2306.11706) `TMLR 2023` - [Vid2Robot: End-to-end Video-conditioned Policy Learning with Cross-Attention Transformers](https://arxiv.org/abs/2403.12943) `RSS 2024` - [In-Context Imitation Learning via Next-Token Prediction](https://arxiv.org/abs/2408.15980) `CVPR 2025` - [One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies](https://arxiv.org/abs/2606.19586) `CoRL 2026` - World models & WAM (55) - [World Models](https://doi.org/10.5281/zenodo.1207631) `NeurIPS 2018` - [RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks](https://arxiv.org/abs/2205.02909) `RSS 2022` - [Learning Universal Policies via Text-Guided Video Generation](https://arxiv.org/abs/2302.00111) `NeurIPS 2023` - [RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools](https://arxiv.org/abs/2306.14447) `CoRL 2023` - [AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation](https://arxiv.org/abs/2407.07889) `RSS 2024` - [Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modeling](https://arxiv.org/abs/2410.18912) `CoRL 2024` - [GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation](https://arxiv.org/abs/2410.06158) `arXiv 2024` - [Genie: Generative Interactive Environments](https://arxiv.org/abs/2402.15391) `ICML 2024` - [Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation](https://arxiv.org/abs/2312.13139) `ICLR 2024` - [iVideoGPT: Interactive VideoGPTs are Scalable World Models](https://arxiv.org/abs/2405.15223) `NeurIPS 2024` - [AdaWorld: Learning Adaptable World Models with Latent Actions](https://arxiv.org/abs/2503.18938) `ICML 2025` - [Cosmos World Foundation Model Platform for Physical AI](https://arxiv.org/abs/2501.03575) `arXiv 2025` - [DreamGen: Unlocking Generalization in Robot Learning through Video World Models](https://arxiv.org/abs/2505.12705) `arXiv 2025` - [FLARE: Robot Learning with Implicit World Modeling](https://arxiv.org/abs/2505.15659) `arXiv 2025` - [Genie 3: A New Frontier for World Models](https://deepmind.google/discover/blog/genie-3-a-new-frontier-for-world-models/) `blog 2025` - [Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation](https://arxiv.org/abs/2508.05635) `arXiv 2025` - [GigaWorld-0: World Models as Data Engine to Empower Embodied AI](https://arxiv.org/abs/2511.19861) `arXiv 2025` - [Latent Action Pretraining Through World Modeling](https://arxiv.org/abs/2509.18428) `arXiv 2025` - [Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos](https://arxiv.org/abs/2506.15680) `arXiv 2025` - [RLVR-World: Training World Models with Reinforcement Learning](https://doi.org/10.52202/085713-4177) `NeurIPS 2025` - [Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics](https://arxiv.org/abs/2501.10100) `arXiv 2025` - [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://arxiv.org/abs/2506.09985) `arXiv 2025` - [$ω$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation](https://arxiv.org/abs/2608.06375) `arXiv 2026` - [AIM: Intent-Aware Unified world action Modeling with Spatial Value Maps](https://arxiv.org/abs/2604.11135) `arXiv 2026` - [Being-H0.7: A Latent World-Action Model from Egocentric Videos](https://arxiv.org/abs/2605.00078) `arXiv 2026` - [Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning](https://arxiv.org/abs/2601.16163) `arXiv 2026` - [DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation](https://arxiv.org/abs/2608.20114) `arXiv 2026` - [Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation](https://arxiv.org/abs/2606.08737) `arXiv 2026` - [DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos](https://arxiv.org/abs/2602.06949) `ICML 2026` - [EV-WM: Event-Verified World Models for Long-Horizon Robotic Manipulation](https://arxiv.org/abs/2606.13053) `arXiv 2026` - [EgoPhys: Learning Generalizable Physics Models of Deformable Objects from Egocentric Video](https://arxiv.org/abs/2606.16202) `arXiv 2026` - [From World Models to World Action Models: A Concise Tutorial for Robotics](https://arxiv.org/abs/2607.00836) `arXiv 2026` - [GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions](https://arxiv.org/abs/2608.06332) `arXiv 2026` - [HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulation](https://arxiv.org/abs/2606.10363) `arXiv 2026` - [JoyAI-RA 0.5: Scaling Robot Manipulation Learning via Dual Action Alignment](https://arxiv.org/abs/2608.05674) `arXiv 2026` - [LAWM-3D: Learning 3D-Aware Latent Actions from Human Videos for Generalizable Robot World Models](https://arxiv.org/abs/2608.05706) `arXiv 2026` - [LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation](https://arxiv.org/abs/2608.07746) `IEEE Humanoids 2026` - [LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies](https://arxiv.org/abs/2606.15768) `arXiv 2026` - [MobileWAM: Bridging World Action Models to Mobile Manipulation with Chain-of-Foresight](https://arxiv.org/abs/2608.04657) `arXiv 2026` - [MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation](https://arxiv.org/abs/2606.09215) `arXiv 2026` - [OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation](https://arxiv.org/abs/2605.06481) `arXiv 2026` - [OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation](https://arxiv.org/abs/2603.19201) `arXiv 2026` - [PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulation](https://arxiv.org/abs/2601.03782) `arXiv 2026` - [RoboCurate: Harnessing Diversity with Action-Verified Neural Trajectory for Robot Learning](https://arxiv.org/abs/2602.18742) `arXiv 2026` - [RoboDream: Compositional World Models for Scalable Robot Data Synthesis](https://arxiv.org/abs/2606.02577) `arXiv 2026` - [Robots Need More than VLA and World Models](https://arxiv.org/abs/2606.06556) `arXiv 2026` - [TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation](https://arxiv.org/abs/2606.11184) `arXiv 2026` - [Tactile-WAM: Touch-Aware World Action Model with Tactile Asymmetric Attention](https://arxiv.org/abs/2606.26663) `arXiv 2026` - [VLA-JEPA: Enhancing Vision-Language-Action Model with Latent World Model](https://arxiv.org/abs/2602.10098) `arXiv 2026` - [VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation](https://arxiv.org/abs/2607.02503) `arXiv 2026` - [World Action Models are Zero-shot Policies](https://arxiv.org/abs/2602.15922) `arXiv 2026` - [World Model for Robot Learning: A Comprehensive Survey](https://arxiv.org/abs/2605.00080) `arXiv 2026` - [World Models for Robotic Manipulation: A Survey](https://arxiv.org/abs/2606.00113) `arXiv 2026` - [World-Language-Action Model for Unified World Modeling, Language Reasoning, and Action Synthesis](https://arxiv.org/abs/2606.05979) `arXiv 2026` - [A review of learning-­based dynamics models for robotic manipulation](https://doi.org/10.1126/scirobotics.adt1497) `Science Robotics` - Learning from human video (34) - [Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations](https://arxiv.org/abs/2008.00101) `IROS 2020` - [hSMAL: Detailed Horse Shape and Pose Reconstruction for Motion Pattern Recognition](https://arxiv.org/abs/2106.10102) `arXiv 2021` - [BARC: Learning to Regress 3D Dog Shape from Images by Exploiting Breed Information](https://arxiv.org/abs/2203.15536) `arXiv 2022` - [DexMV: Imitation Learning for Dexterous Manipulation from Human Videos](https://arxiv.org/abs/2108.05877) `ECCV 2022` - [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://arxiv.org/abs/2110.07058) `CVPR 2022` - [R3M: A Universal Visual Representation for Robot Manipulation](https://arxiv.org/abs/2203.12601) `CoRL 2022` - [VideoDex: Learning Dexterity from Internet Videos](https://arxiv.org/abs/2212.04498) `CoRL 2022` - [Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectives](https://research-information.bris.ac.uk/en/publications/52745b26-defc-438a-9da8-fc779020c594) `CVPR 2023` - [MimicPlay: Long-Horizon Imitation Learning by Watching Human Play](https://arxiv.org/abs/2302.12422) `CoRL 2023` - [VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training](https://arxiv.org/abs/2210.00030) `ICLR 2023` - [Animal Avatars: Reconstructing Animatable 3D Animals from Casual Videos](https://arxiv.org/abs/2403.17103) `arXiv 2024` - [Latent Action Pretraining from Videos](https://arxiv.org/abs/2410.11758) `ICLR 2024` - [DogMo: A Large-Scale Multi-View RGB-D Dataset for 4D Canine Motion Recovery](https://arxiv.org/abs/2510.24117) `arXiv 2025` - [EgoDemoGen: Egocentric Demonstration Generation for Viewpoint Generalization in Robotic Manipulation](https://arxiv.org/abs/2509.22578) `arXiv 2025` - [EgoMimic: Scaling Imitation Learning via Egocentric Video](https://arxiv.org/abs/2410.24221) `ICRA 2025` - [H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation](https://arxiv.org/abs/2507.23523) `arXiv 2025` - [MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence](https://arxiv.org/abs/2508.13534) `CoRL 2025` - [Phantom: Training Robots Without Robots Using Only Human Videos](https://arxiv.org/abs/2503.00779) `arXiv 2025` - [Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrations](https://arxiv.org/abs/2507.00990) `ICLR 2025` - [ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining](https://arxiv.org/abs/2606.17200) `arXiv 2026` - [ACE-Ego-Hand: Repurposing Video Diffusion Models for Occlusion-Robust Egocentric 3D Hand Motion Recovery](https://arxiv.org/abs/2608.20308) `arXiv 2026` - [AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning](https://arxiv.org/abs/2607.08857) `IEEE Humanoids 2026` - [CORGI: Consistency-Aware 3D Dog Reconstruction from a Single Image in the Wild](https://arxiv.org/abs/2607.00321) `arXiv 2026` - [Do as I Do: Dexterous Manipulation Data from Everyday Human Videos](https://arxiv.org/abs/2606.19333) `arXiv 2026` - [Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data](https://arxiv.org/abs/2608.02580) `arXiv 2026` - [EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations](https://arxiv.org/abs/2606.12604) `arXiv 2026` - [EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks](https://arxiv.org/abs/2604.23570) `arXiv 2026` - [EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data](https://arxiv.org/abs/2602.16710) `arXiv 2026` - [HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing](https://arxiv.org/abs/2608.12122) `arXiv 2026` - [HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos](https://arxiv.org/abs/2605.24934) `arXiv 2026` - [HumanNet: Scaling Human-centric Video Learning to One Million Hours](https://arxiv.org/abs/2605.06747) `arXiv 2026` - [Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation](https://arxiv.org/abs/2604.24681) `arXiv 2026` - [Robot Learning from Human Videos: A Survey](https://arxiv.org/abs/2604.27621) `arXiv 2026` - [SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation](https://arxiv.org/abs/2608.04196) `arXiv 2026` - Retargeting & teleoperation (17) - [DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System](https://arxiv.org/abs/1910.03135) `ICRA 2019` - [AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](https://arxiv.org/abs/2307.04577) `RSS 2023` - [Dex-Retargeting: A Unified Motion Retargeting Library for Dexterous Hands](https://github.com/dexsuite/dex-retargeting) `software 2023` - [Expressive Whole-Body Control for Humanoid Robots](https://arxiv.org/abs/2402.16796) `RSS 2024` - [Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation](https://arxiv.org/abs/2403.04436) `IROS 2024` - [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://arxiv.org/abs/2406.08858) `CoRL 2024` - [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://arxiv.org/abs/2407.01512) `CoRL 2024` - [Analyzing Key Objectives in Human-to-Robot Retargeting for Dexterous Manipulation](https://arxiv.org/abs/2506.09384) `arXiv 2025` - [HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots](https://arxiv.org/abs/2410.21229) `ICRA 2025` - [Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking](https://arxiv.org/abs/2510.02252) `arXiv 2025` - [RoboMatch: A Unified Mobile-Manipulation Teleoperation Platform with Auto-Matching Network Architecture for Long-Horizon Tasks](https://arxiv.org/abs/2509.08522) `ICRA 2025` - [C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video](https://arxiv.org/abs/2608.07045) `arXiv 2026` - [Duet: Dual-Robot Understanding via Efficient Teaching](https://arxiv.org/abs/2606.20990) `arXiv 2026` - [Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots](https://arxiv.org/abs/2606.03476) `arXiv 2026` - [Robots that Collaborate: Sequential Asymmetric Imitation for Learning Coupled Robot Policies](https://arxiv.org/abs/2606.16490) `arXiv 2026` - [Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control](https://arxiv.org/abs/2604.06932) `arXiv 2026` - [X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting](https://arxiv.org/abs/2606.07934) `arXiv 2026` - Data scaling & cross-embodiment (5) - [BridgeData V2: A Dataset for Robot Learning at Scale](https://arxiv.org/abs/2308.12952) `CoRL 2023` - [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://www.research.ed.ac.uk/en/publications/f5c31f8b-3f1e-4cde-bd8e-b2c12dde8a75) `ICRA 2023` - [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://arxiv.org/abs/2403.12945) `RSS 2024` - [AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems](https://arxiv.org/abs/2503.06669) `arXiv 2025` - [Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning](https://arxiv.org/abs/2607.14183) `arXiv 2026` - Tactile & contact learning (7) - [A Computational Analysis of Real-World DJ Mixes using Mix-To-Track Subsequence Alignment](https://arxiv.org/abs/2008.10267) `arXiv 2020` - [See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation](https://arxiv.org/abs/2212.03858) `arXiv 2022` - [Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation](https://arxiv.org/abs/2405.08576) `arXiv 2024` - [ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data](https://arxiv.org/abs/2406.19464) `arXiv 2024` - [Visual-auditory Extrinsic Contact Estimation](https://arxiv.org/abs/2409.14608) `arXiv 2024` - [Deform360: A Massive Multi-view Visuotactile Dataset for Deformable World Models](https://arxiv.org/abs/2607.05390) `arXiv 2026` - [EgoEMG: A Multimodal Egocentric Dataset with Bilateral EMG and Vision for Hand Pose Estimation](https://arxiv.org/abs/2605.05712) `arXiv 2026` - Hardware & Systems (226) - Open-source arms & bimanual (12) - [Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation](https://doi.org/10.1109/icra.2019.8794236) `ICRA 2019` - [ALOHA: A Low-cost Open-source Hardware System for Bimanual Teleoperation](https://tonyzhaozh.github.io/aloha/) `RSS 2023` - [Nonlinear Model Predictive Control for Cooperative Transportation and Manipulation of Cable Suspended Payloads with Multiple Quadrotors](https://arxiv.org/abs/2303.06165) `IROS 2023` - [ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation](https://arxiv.org/abs/2405.02292) `arXiv 2024` - [GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators](https://arxiv.org/abs/2309.13037) `IROS 2024` - [Koch v1.1 Low-Cost Robot Arm](https://github.com/jess-moss/koch-v1-1) `open hardware 2024` - [LeRobot / SO-100 & SO-101: Standard Open Arm](https://github.com/huggingface/lerobot) `open hardware 2024` - [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://arxiv.org/abs/2401.02117) `CoRL 2024` - [Event-Triggered Nonlinear Model Predictive Control for Cooperative Cable-Suspended Payload Transportation with Multi-Quadrotors](https://arxiv.org/abs/2504.03123) `arXiv 2025` - [HEATS: A Hierarchical Framework for Efficient Autonomous Target Search with Mobile Manipulators](https://arxiv.org/abs/2503.07986) `arXiv 2025` - [KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning](https://doi.org/10.15607/rss.2026.xxii.184) `RSS 2026` - [OpenPyRo-A1: An Open Python-Based Low-Cost Bimanual Robot for Embodied AI](https://doi.org/10.1109/lra.2025.3634886) `IEEE RA-L 2026` - Mobile manipulation platforms (7) - [The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments](https://arxiv.org/abs/2109.10892) `ICRA 2022` - [TidyBot: Personalized Robot Assistance with Large Language Models](https://arxiv.org/abs/2305.05658) `IROS 2023` - [BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities](https://arxiv.org/abs/2503.05652) `CoRL 2025` - [HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control](https://arxiv.org/abs/2506.01185) `arXiv 2025` - [TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning](https://arxiv.org/abs/2412.10447) `CoRL 2025` - [Towards Human-level Intelligence via Human-like Whole-Body Manipulation](https://arxiv.org/abs/2507.17141) `arXiv 2025` - [YOR: Your Own Mobile Manipulator for Generalizable Robotics](https://arxiv.org/abs/2602.11150) `arXiv 2026` - Data-collection interfaces (22) - [HASHI: Highly Adaptable Seafood Handling Instrument for Manipulation in Industrial Settings](https://arxiv.org/abs/2311.02277) `arXiv 2023` - [ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation](https://arxiv.org/abs/2408.11805) `arXiv 2024` - [Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning](https://arxiv.org/abs/2407.03162) `arXiv 2024` - [DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation](https://arxiv.org/abs/2403.07788) `RSS 2024` - [FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset](https://arxiv.org/abs/2409.19499) `arXiv 2024` - [TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation](https://arxiv.org/abs/2403.07869) `arXiv 2024` - [UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers](https://arxiv.org/abs/2407.10353) `CoRL 2024` - [Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots](https://arxiv.org/abs/2402.10329) `RSS 2024` - [AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons](https://arxiv.org/abs/2503.03081) `CoRL 2025` - [DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove](https://arxiv.org/abs/2502.07730) `RSS 2025` - [DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation](https://arxiv.org/abs/2505.21864) `CoRL 2025` - [Exo-ViHa: A Cross-Platform Exoskeleton System with Visual and Haptic Feedback for Efficient Dexterous Skill Learning](https://arxiv.org/abs/2503.01543) `arXiv 2025` - [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://arxiv.org/abs/2502.13013) `arXiv 2025` - [TWIST: Teleoperated Whole-Body Imitation System](https://arxiv.org/abs/2505.02833) `arXiv 2025` - [EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices](https://arxiv.org/abs/2605.16797) `arXiv 2026` - [EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos](https://arxiv.org/abs/2607.09701) `arXiv 2026` - [Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations](https://arxiv.org/abs/2602.06643) `arXiv 2026` - [Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation](https://arxiv.org/abs/2605.00244) `CoRL 2026` - [ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation](https://arxiv.org/abs/2607.19479) `arXiv 2026` - [RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning](https://arxiv.org/abs/2606.06033) `arXiv 2026` - [Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback](https://arxiv.org/abs/2606.14218) `arXiv 2026` - [WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning](https://arxiv.org/abs/2606.13232) `arXiv 2026` - Dexterous hands (17) - [The Shadow Dexterous Hand](https://www.shadowrobot.com/dexterous-hand-series/) `commercial 2005` - [The DLR Hand Arm System](https://doi.org/10.1109/icra.2011.5980371) `ICRA 2011` - [Allegro Hand](https://www.wonikrobotics.com/robot-hand) `commercial 2012` - [A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks](https://doi.org/10.1007/978-3-319-43488-9_18) `SAB 2016` - [Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints](https://arxiv.org/abs/2308.02453) `2023 IEEE-RAS 22nd International Confere 2023` - [LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning](https://arxiv.org/abs/2309.06440) `RSS 2023` - [1X Redwood Hand / NEO](https://www.1x.tech/neo) `industry 2025` - [DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation](https://arxiv.org/abs/2507.01008) `arXiv 2025` - [ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning](https://arxiv.org/abs/2504.04259) `IROS 2025` - [RUKA: Rethinking the Design of Humanoid Hands with Learning](https://arxiv.org/abs/2504.13165) `CoRL 2025` - [Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning](https://arxiv.org/abs/2608.28578) `arXiv 2026` - [CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance](https://arxiv.org/abs/2603.12120) `arXiv 2026` - [MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand](https://arxiv.org/abs/2607.14487) `arXiv 2026` - [MM-Hand: A 21-DOF Multi-modal Modular Dexterous Robotic Hand with Remote Actuation](https://arxiv.org/abs/2604.17245) `arXiv 2026` - [PDS Joint: A Parametric Double-Spiral Joint Tailored for Dexterous Hands](https://arxiv.org/abs/2606.24377) `arXiv 2026` - [Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning](https://arxiv.org/abs/2603.26660) `arXiv 2026` - [SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity](https://arxiv.org/abs/2606.14250) `arXiv 2026` - Tactile sensing hardware (10) - [GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force](https://doi.org/10.3390/s17122762) `Sensors 2017` - [DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation](https://arxiv.org/abs/2005.14679) `IEEE RA-L 2020` - [ReSkin: versatile, replaceable, lasting tactile skins](https://arxiv.org/abs/2111.00071) `CoRL 2021` - [AnySkin: Plug-and-play Skin Sensing for Robotic Touch](https://arxiv.org/abs/2409.08276) `arXiv 2024` - [SonicSense: Object Perception from In-Hand Acoustic Vibration](https://arxiv.org/abs/2406.17932) `arXiv 2024` - [DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation](https://arxiv.org/abs/2509.18830) `CoRL 2025` - [MicCheck: Repurposing Off-the-Shelf Pin Microphones for Easy and Low-Cost Contact Sensing](https://arxiv.org/abs/2511.18299) `arXiv 2025` - [VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation](https://arxiv.org/abs/2504.15535) `arXiv 2025` - [OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies](https://arxiv.org/abs/2607.03723) `arXiv 2026` - [RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation](https://arxiv.org/abs/2606.31836) `arXiv 2026` - Humanoid & legged platforms (11) - [MIT Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control](https://doi.org/10.1109/icra.2019.8793865) `ICRA 2019` - [Online Reinforcement Learning Control for the Personalization of a Robotic Knee Prosthesis](https://doi.org/10.1109/tcyb.2019.2890974) `IEEE T-Cybernetics 2019` - [Berkeley Humanoid: A Research Platform for Learning-based Control](https://arxiv.org/abs/2407.21781) `arXiv 2024` - [Design and Control of a Bipedal Robotic Character](https://doi.org/10.15607/rss.2024.xx.103) `RSS 2024` - [Unitree G1 / H1 Humanoid Platforms](https://www.unitree.com/g1) `commercial 2024` - [Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot](https://arxiv.org/abs/2504.17249) `arXiv 2025` - [ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation](https://arxiv.org/abs/2502.00893) `arXiv 2025` - [THRIVE: Therapeutic Humanoid Robot In Virtual Environment](https://arxiv.org/abs/2608.14462) `arXiv 2026` - Task-Agnostic and Device-Agnostic Exoskeleton Control via Reinforcement Learning and Mixture of Experts `IEEE T-RO 2026` - Design and Modeling of Bio-Inspired Shoulder Exoskeleton with Cable-Driven Quasi-Direct Drive Actuation: Misalignment Compensation and Interference Mitigation `IEEE T-RO` - End-to-End Assistive Torque Control for Lower-Limb Exoskeleton via Sim-to-Real Reinforcement Learning and Curriculum Learning `IEEE T-RO` - Co-design & morphology (32) - [Evolving Virtual Creatures](https://doi.org/10.1145/3596711.3596785) `SIGGRAPH 1994` - [Automatic design and manufacture of robotic lifeforms](https://doi.org/10.1038/35023115) `Nature 2000` - [Letrons: a drivable BMW that converts into a 4.5 m robot](https://www.letrons.com/) `industry 2016` - [Computational co-optimization of design parameters and motion trajectories for robotic systems](https://doi.org/10.1177/0278364918771172) `IJRR 2018` - [J-deite RIDE: a 4 m rideable humanoid that transforms into a car](https://braverobotics.com/en/2018/04/26/j-deite-ride-release/) `industry 2018` - [Jointly Learning to Construct and Control Agents using Deep Reinforcement Learning](https://arxiv.org/abs/1801.01432) `ICRA 2019` - [Neural Graph Evolution: Towards Efficient Automatic Robot Design](https://arxiv.org/abs/1906.05370) `ICLR 2019` - [Fit2Form: 3D Generative Model for Robot Gripper Form Design](https://arxiv.org/abs/2011.06498) `CoRL 2020` - [Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning](https://arxiv.org/abs/2008.04460) `CoRL 2020` - [RoboGrammar: Graph Grammar for Terrain-Optimized Robot Design](https://doi.org/10.1145/3414685.3417831) `SIGGRAPH Asia 2020` - [An End-to-End Differentiable Framework for Contact-Aware Robot Design](https://arxiv.org/abs/2107.07501) `RSS 2021` - [Embodied Intelligence via Learning and Evolution](https://doi.org/10.1038/s41467-021-25874-z) `Nature Communications 2021` - [Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion](https://arxiv.org/abs/2108.00309) `arXiv 2021` - [Real-world embodied AI through a morphologically adaptive quadruped robot](https://doi.org/10.1038/s42256-021-00320-3) `Nature Machine Intelligence 2021` - [Task-Agnostic Morphology Evolution](https://arxiv.org/abs/2102.13100) `ICLR 2021` - [A Versatile Co-Design Approach For Dynamic Legged Robots](https://arxiv.org/abs/2103.04660) `ICRA 2022` - [Evolution Gym: A Large-Scale Benchmark for Evolving Soft Robots](https://proceedings.neurips.cc/paper/2021/file/118921efba23fc329e6560b27861f0c2-Paper.pdf) `NeurIPS Datasets & Benchmarks 2022` - [Meta Reinforcement Learning for Optimal Design of Legged Robots](https://arxiv.org/abs/2210.02750) `IEEE RA-L 2022` - [Robosen auto-converting Transformers (Optimus Prime, Grimlock)](https://us.robosen.com/) `commercial 2022` - [SWheg: A Wheel-Leg Transformable Robot With Minimalist Actuator Realization](https://arxiv.org/abs/2210.15126) `arXiv 2022` - [Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design](https://arxiv.org/abs/2110.03659) `ICLR 2022` - [DiffuseBot: Breeding Soft Robots With Physics-Augmented Generative Diffusion Models](https://arxiv.org/abs/2311.17053) `NeurIPS 2023` - [Task2Morph: Differentiable Task-Inspired Framework for Contact-Aware Robot Design](https://doi.org/10.1109/iros55552.2023.10341360) `IROS 2023` - [A Robust Quadruped Robot with Twisting Waist for Flexible Motions](https://arxiv.org/abs/2410.05884) `arXiv 2024` - [RoboMorph: Evolving Robot Morphology using Large Language Models](https://arxiv.org/abs/2407.08626) `arXiv 2024` - [The Foundational Pose as a Selection Mechanism for the Design of Tool-Wielding Multi-Finger Robotic Hands](https://arxiv.org/abs/2409.14158) `arXiv 2024` - [A Reconfigured Wheel-Legged Robot for Enhanced Steering and Adaptability](https://arxiv.org/abs/2507.22345) `arXiv 2025` - [Accelerated co-design of robots through morphological pretraining](https://arxiv.org/abs/2502.10862) `arXiv 2025` - [Fast and Modular Whole-Body Lagrangian Dynamics of Legged Robots with Changing Morphology](https://arxiv.org/abs/2504.16383) `Nonlinear Dynamics 2025` - [Text2Robot: Evolutionary Robot Design from Text Descriptions](https://arxiv.org/abs/2406.19963) `ICRA 2025` - [S-Cheetah: A Novel Quadrupedal Robot with a 3-DOF Active Spine Learning Agile Locomotion](https://arxiv.org/abs/2605.27909) `arXiv 2026` - [X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation](https://arxiv.org/abs/2604.21541) `arXiv 2026` - Simulators & benchmarks (43) - [MuJoCo: A Physics Engine for Model-Based Control](https://doi.org/10.1109/iros.2012.6386109) `IROS 2012` - [Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction](https://doi.org/10.1109/tro.2017.2732354) `IEEE T-RO 2017` - [Deep Reinforcement Learning for Six Degree-of-Freedom Planetary Powered Descent and Landing](https://arxiv.org/abs/1810.08719) `arXiv 2018` - [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://arxiv.org/abs/2108.10470) `NeurIPS Datasets & Benchmarks 2021` - [Specializing Versatile Skill Libraries using Local Mixture of Experts](https://arxiv.org/abs/2112.04216) `CoRL 2021` - [Integrated Planning and Control of Robotic Surgical Instruments for Tasks Autonomy](https://arxiv.org/abs/2305.09470) `arXiv 2023` - [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://arxiv.org/abs/2306.03310) `NeurIPS Datasets & Benchmarks 2023` - [Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments](https://arxiv.org/abs/2301.04195) `IEEE RA-L 2023` - [Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts](https://arxiv.org/abs/2403.06966) `ICML 2024` - [Automated Creation of Digital Cousins for Robust Policy Learning](https://arxiv.org/abs/2410.07408) `arXiv 2024` - [CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control](https://arxiv.org/abs/2408.09662) `arXiv 2024` - [Genesis: A Universal and Generative Physics Engine for Robotics and Beyond](https://github.com/Genesis-Embodied-AI/Genesis) `open source 2024` - [HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation](https://arxiv.org/abs/2403.10506) `RSS 2024` - [RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots](https://arxiv.org/abs/2406.02523) `RSS 2024` - [The One RING: a Robotic Indoor Navigation Generalist](https://arxiv.org/abs/2412.14401) `arXiv 2024` - [A Survey: Learning Embodied Intelligence from Physical Simulators and World Models](https://arxiv.org/abs/2507.00917) `arXiv 2025` - [ActivePusher: Active Learning and Planning with Residual Physics for Nonprehensile Manipulation](https://arxiv.org/abs/2506.04646) `ICRA 2025` - [ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI](https://arxiv.org/abs/2410.00425) `RSS 2025` - [Newton: An Open-Source GPU-Accelerated Physics Engine for Robot Learning](https://github.com/newton-physics/newton) `open source 2025` - [Olaf: Bringing an Animated Character to Life in the Physical World](https://doi.org/10.1109/lra.2026.3685938) `IEEE RA-L 2025` - [One View, Many Worlds: Single-Image to 3D Object Meets Generative Domain Randomization for One-Shot 6D Pose Estimation](https://arxiv.org/abs/2509.07978) `2025` - [PhysGen3D: Crafting a Miniature Interactive World from a Single Image](https://arxiv.org/abs/2503.20746) `CVPR 2025` - [PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos](https://arxiv.org/abs/2503.17973) `ICCV 2025` - [PhysWorld: From Real Videos to World Models of Deformable Objects via Physics-Aware Demonstration Synthesis](https://arxiv.org/abs/2510.21447) `arXiv 2025` - [PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies](https://doi.org/10.15607/rss.2026.xxii.062) `Robotics: Science and Systems XXII 2025` - [Push Smarter, Not Harder: Hierarchical RL-Diffusion Policy for Efficient Nonprehensile Manipulation](https://doi.org/10.1109/lra.2026.3692041/mm1) `arXiv 2025` - [RoboSwap: A GAN-driven Video Diffusion Framework For Unsupervised Robot Arm Swapping](https://arxiv.org/abs/2506.08632) `arXiv 2025` - [WorldEval: World Model as Real-World Robot Policies Evaluator](https://arxiv.org/abs/2505.19017) `arXiv 2025` - [A Progress-Aware Leader-Follower Midair Docking System for Dual-Drone Aerial Manipulation](https://arxiv.org/abs/2605.29410) `arXiv 2026` - [Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition](https://arxiv.org/abs/2608.09762) `arXiv 2026` - [Interactive World Simulator for Robot Policy Training and Evaluation](https://arxiv.org/abs/2603.08546) `arXiv 2026` - [PRISM: Personalized Robotic Dataset Generation via Image-based Scene and Motion Synthesis](https://arxiv.org/abs/2607.04880) `arXiv 2026` - [Real-Time Projected Adaptive Control for Closed-Chain Co-Manipulative Continuum Robots](https://arxiv.org/abs/2604.04286) `arXiv 2026` - [RoboGaze: Evaluating Robot World Models via Structured Vision-Language Analysis](https://arxiv.org/abs/2606.28385) `arXiv 2026` - [RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation](https://arxiv.org/abs/2607.06699) `arXiv 2026` - [RoboWorld: Fast and Reliable Neural Simulators for Generalist Robot Policy Evaluation](https://arxiv.org/abs/2607.01060) `arXiv 2026` - [Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters](https://arxiv.org/abs/2603.04057) `arXiv 2026` - [SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation](https://arxiv.org/abs/2606.28276) `arXiv 2026` - [Submodular Policy Learning for Distributed Task Allocation in Open Multi-Agent Systems](https://arxiv.org/abs/2608.14390) `arXiv 2026` - [Vibration Suppression in Collaborative Flexible Payload Manipulation Using Passive Force Control](https://arxiv.org/abs/2608.14244) `arXiv 2026` - [WorldArena 2.0: Extending Embodied World Model Benchmarking on Modality, Functionality and Platform](https://arxiv.org/abs/2605.17912) `arXiv 2026` - Catheter PCI Intervention Sim2Real - [Scalable Muscle-Actuated Human Simulation and Control](https://doi.org/10.1145/3306346.3322972) `SIGGRAPH` - Planning & control (42) - [Convex Programming Approach to Powered Descent Guidance for Mars Landing](https://doi.org/10.2514/1.27553) `JGCD 2007` - [Data-Driven Risk-sensitive Model Predictive Control for Safe Navigation in Multi-Robot Systems](https://arxiv.org/abs/2209.07793) `Nature 2022` - [Distributed Safe Learning and Planning for Multi-robot Systems](https://arxiv.org/abs/2207.07824) `arXiv 2022` - [Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator](https://arxiv.org/abs/2305.17484) `IEEE Robotics and Automation Letters 2023` - [Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics](https://arxiv.org/abs/2310.12816) `arXiv 2023` - [Nonholonomic Motion Planning as Efficient as Piano Mover's](https://arxiv.org/abs/2306.01301) `arXiv 2023` - [Planning Optimal Trajectories for Mobile Manipulators under End-effector Trajectory Continuity Constraint](https://arxiv.org/abs/2309.12251) `ICRA 2023` - [RL-based Variable Horizon Model Predictive Control of Multi-Robot Systems using Versatile On-Demand Collision Avoidance](https://arxiv.org/abs/2308.07071) `arXiv 2023` - [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://arxiv.org/abs/2307.05973) `CoRL 2023` - [Autonomous Multiple-Trolley Collection System with Nonholonomic Robots: Design, Control, and Implementation](https://arxiv.org/abs/2401.08433) `arXiv 2024` - [BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics](https://arxiv.org/abs/2412.09584) `ICLR 2024` - [D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation](https://arxiv.org/abs/2403.12861) `CoRL 2024` - [ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation](https://arxiv.org/abs/2409.01652) `CoRL 2024` - [Robust Dynamic Control Barrier Function Based Trajectory Planning for Mobile Manipulator](https://arxiv.org/abs/2406.15806) `arXiv 2024` - [Safe Force/Position Tracking Control via Control Barrier Functions for Floating Base Mobile Manipulator Systems](https://arxiv.org/abs/2404.13626) `arXiv 2024` - [Topology-Driven Parallel Trajectory Optimization in Dynamic Environments](https://arxiv.org/abs/2401.06021) `IEEE T-RO 2024` - [Combining High Level Scheduling and Low Level Control to Manage Fleets of Mobile Robots](https://arxiv.org/abs/2510.23129) `arXiv 2025` - [Deep Reactive Policy: Learning Reactive Manipulator Motion Planning for Dynamic Environments](https://arxiv.org/abs/2509.06953) `CoRL 2025` - [Distributed Switching Model Predictive Control Meets Koopman Operator for Dynamic Obstacle Avoidance](https://arxiv.org/abs/2511.17186) `arXiv 2025` - [Forecast-Driven MPC for Decentralized Multi-Robot Collision Avoidance](https://arxiv.org/abs/2508.08264) `arXiv 2025` - [Multi-directional Safe Rectangle Corridor-Based MPC for Nonholonomic Robots Navigation in Cluttered Environment](https://arxiv.org/abs/2512.13215) `arXiv 2025` - [Planning and Control for Deformable Linear Object Manipulation](https://doi.org/10.1109/tase.2025.3635685) `IEEE Transactions on Automation Science and En 2025` - [Quadratic-Programming-based Control of Multi-Robot Systems for Cooperative Object Transport](https://doi.org/10.1016/j.ejcon.2026.101598) `European Journal of Control 2025` - [Risk Aware Safe Control with Multi-Modal Sensing for Dynamic Obstacle Avoidance](https://doi.org/10.1016/j.conengprac.2026.107114) `Control Engineering Practice 2025` - [SkyVLN: Vision-and-Language Navigation and NMPC Control for UAVs in Urban Environments](https://arxiv.org/abs/2507.06564) `IROS 2025` - [A Survey on Sensor-based Planning and Control for Unmanned Underwater Vehicles](https://arxiv.org/abs/2604.05003) `arXiv 2026` - [BOWConnect: Parallel Bayesian Optimization over Windows with Learned Local Cost Maps for Sample-Efficient Kinodynamic Motion Planning](https://arxiv.org/abs/2606.27292) `IROS 2026` - [COLREGs Compliant Collision Avoidance and Grounding Prevention for Autonomous Marine Navigation](https://arxiv.org/abs/2603.02484) `arXiv 2026` - [Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception](https://arxiv.org/abs/2605.15999) `arXiv 2026` - [Continuous-Time Gaussian Belief Trees for Motion Planning](https://arxiv.org/abs/2607.02884) `arXiv 2026` - [Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control](https://arxiv.org/abs/2604.23863) `arXiv 2026` - [Credibility-Aware Learning and Control for Safe USV Navigation under Perception Uncertainty](https://arxiv.org/abs/2605.26974) `arXiv 2026` - [Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats](https://arxiv.org/abs/2607.20352) `arXiv 2026` - [Motion Planning in Dynamic Environments: A Survey from Classical to Modern Methods](https://arxiv.org/abs/2606.02677) `arXiv 2026` - [On Optimal Event-Triggered Distributed Control for Stochastic Multi-Agent Systems via Reinforcement Learning](https://arxiv.org/abs/2607.17635) `Nature 2026` - [Parallel Dynamic Programming for Conic Linear Quadratic Control](https://arxiv.org/abs/2606.24632) `arXiv 2026` - [Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions](https://arxiv.org/abs/2606.09719) `arXiv 2026` - [Scale-Invariant Sampling in Multi-Arm Bandit Motion Planning for Object Extraction](https://arxiv.org/abs/2604.14026) `arXiv 2026` - [Tether-Aware Dynamic Collision Avoidance for USV-HROV Systems](https://arxiv.org/abs/2606.01112) `arXiv 2026` - [TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics](https://arxiv.org/abs/2605.13748) `RSS 2026` - [TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPU](https://arxiv.org/abs/2606.24039) `arXiv 2026` - [WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $LDL^\top$ Factorization](https://arxiv.org/abs/2607.11603) `arXiv 2026` - Perception & state estimation (9) - [D$^3$Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement](https://arxiv.org/abs/2309.16118) `CoRL 2023` - [RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation](https://arxiv.org/abs/2402.15487) `CoRL 2024` - [Continuous-Time State Estimation Methods in Robotics: A Survey](https://doi.org/10.1109/tro.2025.3593079) `IEEE T-RO 2025` - [Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation](https://arxiv.org/abs/2503.11999) `Nature 2025` - [Omnidirectional Dual-Arm Aerial Manipulator with Proprioceptive Contact Localization for Landing on Slanted Roofs](https://arxiv.org/abs/2602.10703) `ICRA 2026` - [A Target-Based Extrinsic Calibration Framework for Non-Overlapping Camera-Lidar Systems Using a Motion Capture System](https://doi.org/10.21428/d82e957c.58a61852) `Conference on Robots and Vision` - [CHOSEN: Contrastive Hypothesis Selection for Multi-View Depth Refinement](https://doi.org/10.21428/d82e957c.024f76dd) `Conference on Robots and Vision` - [Change of Scenery: Unsupervised LiDAR Change Detection for Mobile Robots](https://doi.org/10.21428/d82e957c.276daa5a) `Conference on Robots and Vision` - [Image Space Path Following Control Using Visual Servoing](https://doi.org/10.21428/d82e957c.4ade25c5) `Conference on Robots and Vision` - Agentic & auto-research systems (19) - [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://arxiv.org/abs/2305.16291) `TMLR 2023` - [DrEureka: Language Model Guided Sim-To-Real Transfer](https://arxiv.org/abs/2406.01967) `RSS 2024` - [Embodied LLM Agents Learn to Cooperate in Organized Teams](https://arxiv.org/abs/2403.12482) `arXiv 2024` - [Eureka: Human-Level Reward Design via Coding Large Language Models](https://arxiv.org/abs/2310.12931) `ICLR 2024` - [The AI Scientist: Towards Fully Automated Open-Ended Scientific Discovery](https://arxiv.org/abs/2408.06292) `arXiv 2024` - [Affordance-Based Disambiguation of Surgical Instructions for Collaborative Robot-Assisted Surgery](https://arxiv.org/abs/2509.14967) `CoRL 2025` - [Agent Laboratory: Using LLM Agents as Research Assistants](https://arxiv.org/abs/2501.04227) `arXiv 2025` - [Dyna Robotics: DYNA-1 Autonomous Dexterous Model](https://www.dyna.co/) `company blog 2025` - [Generalist AI: GEN-0 and Harmonic Reasoning](https://generalistai.com/) `company blog 2025` - [Real Deep Research for AI, Robotics and Beyond](https://arxiv.org/abs/2510.20809) `arXiv 2025` - [Skild AI: Omni-bodied Robot Brain](https://www.skild.ai/) `company blog 2025` - [Sunday Robotics: Gelato Foundation Model & Skill Capture](https://www.humanoidsdaily.com/news/sunday-unveils-memo-a-wheeled-domestic-robot-that-learns-from-200-gloves) `company blog 2025` - [mimic robotics: Dexterous Manipulation from Human Demonstration](https://www.mimicrobotics.com/) `company blog 2025` - [Dyna Robotics DYNA-2: scaling human video for commercial dexterity](https://www.dyna.co/) `tech report 2026` - [EmboTeam: Grounding LLM Reasoning into Reactive Behavior Trees via PDDL for Embodied Multi-Robot Collaboration](https://arxiv.org/abs/2601.11063) `arXiv 2026` - [Figure AI: Helix in the home and at BMW Spartanburg](https://www.figure.ai/news) `company blog 2026` - [HARBOR: A Harness Framework for Agentic Robot Reinforcement Learning](https://arxiv.org/abs/2606.08610) `arXiv 2026` - [RF-Agent: Automated Reward Function Design via Language Agent Tree Search](https://arxiv.org/abs/2602.23876) `arXiv 2026` - [Skild AI: scaling to 100,000 hours and one-shot video imitation](https://www.skild.ai/) `company blog 2026` ## OPEN DATASETS (109) - Egocentric human (31) - [Egocentric-1M](https://huggingface.co/builddotai) `2026` - [HumanNet](https://arxiv.org/abs/2605.06747) `2026` - [EgoScale](https://research.nvidia.com/labs/gear/egoscale/) `2026` - [Ego2Robot](https://arxiv.org/abs/2608.02580) `2026` - [Xperience-10M](https://huggingface.co/datasets/ropedia-ai/xperience-10m) `2026` - [ACE-Ego-0](https://arxiv.org/abs/2606.17200) `2026` - [EgoVerse](https://arxiv.org/abs/2604.07607) `2026` - [EgoEMG](https://arxiv.org/abs/2605.05712) `2026` - [HumanEgo](https://arxiv.org/abs/2605.24934) `2026` - [EgoKit](https://arxiv.org/abs/2605.16797) `2026` - [EgoLive](https://arxiv.org/abs/2604.23570) `2026` - [Egocentric-100K](https://huggingface.co/datasets/builddotai/Egocentric-100K) `2025` - [Egocentric-10K](https://huggingface.co/datasets/builddotai/Egocentric-10K) `2025` - [OpenEgo](https://arxiv.org/abs/2509.05513) `2025` - [EgoDex](https://github.com/apple/ml-egodex) `2025` - [EgoVLA](https://arxiv.org/abs/2507.12440) `2025` - [H-RDT](https://arxiv.org/abs/2507.23523) `2025` - [Nymeria](https://github.com/facebookresearch/nymeria_dataset) `2024` - [EgoExoLearn](https://github.com/OpenGVLab/EgoExoLearn) `2024` - [HOT3D](https://facebookresearch.github.io/hot3d/) `2024` - [Aria Everyday Activities Dataset](https://facebookresearch.github.io/projectaria_tools/docs/open_datasets/aria_everyday_activities_dataset) `2024` - [EgoVid-5M](https://egovid.github.io/) `2024` - [Ego-Exo4D](https://ego-exo4d-data.org/) `2023` - [EPIC Fields](https://epic-kitchens.github.io/epic-fields/) `2023` - [Project Aria](https://facebookresearch.github.io/projectaria_tools/) `2023` - [HOI4D](https://hoi4d.github.io/) `2022` - [Ego4D](https://ego4d-data.org/) `2021` - [EgoBody](https://sanweiliti.github.io/egobody/egobody.html) `2021` - [H2O](https://taeinkwon.com/projects/h2o/) `2021` - [Rescaling Egocentric Vision](https://epic-kitchens.github.io/) `2020` - [egoexo-handrig](https://arxiv.org/abs/2510.02601) `` - UMI & handheld (7) - [YUBI](https://arxiv.org/abs/2606.10244) `2026` - [Open-AoE](https://arxiv.org/abs/2607.14183) `2026` - [RealDexUMI](https://arxiv.org/abs/2606.06033) `2026` - [Universal Manipulation Exoskeleton](https://arxiv.org/abs/2606.14218) `2026` - [DexUMI](https://dex-umi.github.io/) `2025` - [FastUMI-100K](https://github.com/MrKeee/FastUMI-100K) `2025` - [Universal Manipulation Interface](https://umi-gripper.github.io/) `2024` - Teleoperation (7) - [AirExo-2](https://airexo.tech/airexo2/) `2025` - [DexCap](https://dex-cap.github.io/) `2024` - [HumanPlus](https://humanoid-ai.github.io/) `2024` - [Mobile ALOHA](https://mobile-aloha.github.io/) `2024` - [Open-TeleVision](https://robot-tv.github.io/) `2024` - [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://tonyzhaozh.github.io/aloha/) `2023` - [RoboTurk](https://roboturk.stanford.edu/) `2018` - Robot manipulation at scale (17) - [Qwen-RobotManip Technical Report](https://arxiv.org/abs/2606.17846) `2026` - [AgiBot World 2026](https://agibot-world.com/) `2026` - [Galaxea Open-World Dataset and G0 Dual-System VLA Model](https://opengalaxea.github.io/G0/) `2025` - [AgiBot World Colosseo](https://agibot-world.com/) `2025` - [RoboCOIN](https://arxiv.org/abs/2511.17441) `2025` - [DROID](https://droid-dataset.github.io/) `2024` - [All Robots in One](https://imaei.github.io/project_pages/ario/) `2024` - [FMB](https://functional-manipulation-benchmark.github.io/) `2024` - [RoboMIND](https://x-humanoid-robomind.github.io/) `2024` - [BridgeData V2](https://rail-berkeley.github.io/bridgedata/) `2023` - [Open X-Embodiment](https://robotics-transformer-x.github.io/) `2023` - [RH20T](https://rh20t.github.io/) `2023` - [RoboAgent](https://robopen.github.io/) `2023` - [BC-Z](https://sites.google.com/view/bc-z/home) `2022` - [Interactive Language](https://interactive-language.github.io/) `2022` - [RT-1](https://robotics-transformer1.github.io/) `2022` - [RoboNet](https://www.robonet.wiki/) `2019` - Hand-object & dexterous (8) - [DexGraspNet 2.0](https://pku-epic.github.io/DexGraspNet2.0/) `2024` - [OAKINK2](https://oakink.net/v2/) `2024` - [TACO](https://taco2024.github.io/) `2024` - [DexArt](https://www.chenbao.tech/dexart/) `2023` - [ARCTIC](https://arctic.is.tue.mpg.de/) `2022` - [DexGraspNet](https://pku-epic.github.io/DexGraspNet/) `2022` - [DexYCB](https://dex-ycb.github.io/) `2021` - [GRAB](https://grab.is.tue.mpg.de/) `2020` - Tactile (7) - [RoboTacDex](https://arxiv.org/abs/2606.31836) `2026` - [A Touch, Vision, and Language Dataset for Multimodal Alignment](https://tactile-vlm.github.io/) `2024` - [Sparsh](https://sparsh-ssl.github.io/) `2024` - [Towards Comprehensive Multimodal Perception](https://arxiv.org/abs/2403.09813) `2024` - [The ObjectFolder Benchmark](https://objectfolder.stanford.edu/) `2023` - [ObjectFolder 2.0](https://objectfolder.stanford.edu/) `2022` - [Touch and Go](https://touch-and-go.github.io/) `2022` - Human-robot interaction (11) - [R2HandoverSim](https://arxiv.org/abs/2606.21011) `2026` - [DexH2R](https://arxiv.org/abs/2506.23152) `2025` - [Kaiwu](https://arxiv.org/abs/2503.05231) `2025` - [THÖR-MAGNI](http://thor.oru.se/) `2024` - [Toward Human-Like Social Robot Navigation](https://arxiv.org/abs/2303.14880) `2023` - [InteRACT](https://arxiv.org/abs/2311.12943) `2023` - [Socially Compliant Navigation Dataset (SCAND)](https://www.cs.utexas.edu/~xiao/SCAND/SCAND.html) `2022` - [HandoverSim](https://handover-sim.github.io/) `2022` - [JRDB-Act](https://jrdb.erc.monash.edu/) `2021` - [MoGaze](https://humans-to-robots-motion.github.io/mogaze/) `2020` - [JRDB](https://jrdb.erc.monash.edu/) `2019` - Multi-robot & collaboration (7) - [GA3T](https://arxiv.org/abs/2605.06478) `2026` - [HERCULES](https://arxiv.org/abs/2606.22756) `2026` - [HRIBench](https://arxiv.org/abs/2607.13056) `2026` - [RoCo Challenge at AAAI 2026](https://arxiv.org/abs/2603.15469) `2026` - [LLM-Based Generalizable Hierarchical Task Planning and Execution for Heterogeneous Robot Teams with Event-Driven Replanning](https://arxiv.org/abs/2511.22354) `2025` - [Demonstrating HumanTHOR](https://sites.google.com/view/humanthor) `2024` - [RoCo](https://project-roco.github.io/) `2023` - Third-person video (3) - [Assembly101](https://assembly-101.github.io/) `2022` - [HowTo100M](https://www.di.ens.fr/willow/research/howto100m/) `2019` - [The "something something" video database for learning and evaluating visual common sense](https://www.qualcomm.com/developer/software/something-something-v-2-dataset) `2017` - Human motion & humanoid (3) - [Learning from Massive Human Videos for Universal Humanoid Pose Control](https://usc-gvl.github.io/UH-1/) `2024` - [Motion-X](https://motion-x-dataset.github.io/) `2023` - [AMASS](https://amass.is.tue.mpg.de/) `2019` - Simulation benchmarks (8) - [RoboVerse](https://roboverseorg.github.io/) `2025` - [BEHAVIOR-1K](https://behavior.stanford.edu/) `2024` - [HumanoidBench](https://humanoid-bench.github.io/) `2024` - [ManiSkill3](https://maniskill.readthedocs.io/) `2024` - [RoboCasa](https://robocasa.ai/) `2024` - [LIBERO](https://libero-project.github.io/) `2023` - [CALVIN](http://calvin.cs.uni-freiburg.de/) `2021` - [Meta-World](https://meta-world.github.io/) `2019`