This curation covers a wide range of robotic manipulation tasks.
#Gripper #Dexterous #Motion_Generation #Tactile_Sensors #Task_Planning #Grasp_Synthesis #Learning_Methods
Don't hesitate to leave issues or discussions to me if there are any corrections or errors.
- A Math Cookbook for Robot Manipulation, Calinon - Website
- A Mathematical Introduction to Robotic Manipulation, Richard Murray
- Introduction to Robotics: Mechanics and Control, John J. Craig
- Modern Robotics, Kevin M. Lynch and Frank C. Park - Textbook
- Robot Dynamics Lecture Notes, ETH
- Robotic Manipulation Perception, Planning, and Control, Russ Tedrake
- Robotic Systems, Kris Hauser, University of Illinois
- Robotics Modelling, Planning and Control, Siciliano et al.
- ROS-Industrial - Docs
- A Survey of Embodied Learning for Object-Centric Robotic Manipulation
- A Systematic Review on Custom Data Gloves
- Human-like dexterous manipulation for anthropomorphic five-fingered hands: A review
- Learning by Watching: A Review of Video-based Learning Approaches for Robot Manipulation
- Review of Learning-Based Robotic Manipulation in Cluttered Environments
- Review on human-like robot manipulation using dexterous hands
🔤 The items below are in alphabetical order.
2025
- "Stack It Up!": 3D Stable Structure Generation from 2D Hand-drawn Sketch
- Adapt3R: Adaptive 3D Scene Representation for Domain Transfer in Imitation Learning
- AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
- AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AI
- Analyzing Key Objectives in Human-to-Robot Retargeting for Dexterous Manipulation
- ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning
- BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities
- Beyond Behavior Cloning: Robustness through Interactive Imitation and Contrastive Learning
- Beyond Visuals: Investigating Force Feedback in Extended Reality for Robot Data Collection
- Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection
- Biohybrid hand actuated by multiple human muscle tissues
- Bunny-VisionPro Real-Time Bimanual Dexterous Teleoperation for Imitation Learning
- Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning
- CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
- ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
- Cone-E: An Open Source Bimanual Mobile Manipulator for Generalizable Robotics
- Constraint-Preserving Data Generation for Visuomotor Policy Learning
- Counterfactual Behavior Cloning: Offline Imitation Learning from Imperfect Human Demonstrations
- Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
- D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation
- DemoSpeedup: Accelerating Visuomotor Policies via Entropy-Guided Demonstration Acceleration
- Development of a Five-Fingerd Biomimetic Soft Robotic Hand by 3D Printing the Skin and Skeleton as One Unit
- Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation
- DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning
- DexFlow: A Unified Approach for Dexterous Hand Pose Retargeting and Interaction
- DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness
- DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
- DexMOTS: Learning Contact-Rich Dexterous Manipulation in an Object-Centric Task Space with Differentiable Simulation ➕
- Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
- DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation
- DexterityGen: Foundation Controller for Unprecedented Dexterity
- Dexterous Contact-Rich Manipulation via the Contact Trust Region
- Dexterous hand towards intelligent manufacturing: A review of technologies, trends, and potential applications
- Dexterous Manipulation through Imitation Learning: A Survey
- Dexterous Pre-grasp Manipulation for Human-like Functional Categorical Grasping: Deep Reinforcement Learning and Grasp Representations
- DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References
- DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control
- DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies
- Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions
- DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove ➕
- DreamGrasp: Zero-Shot 3D Multi-Object Reconstruction from Partial-View Images for Robotic Manipulation
- Estimating Value of Assistance for Online POMDP Robotic Agents
- Extracting Visual Plans from Unlabeled Videos via Symbolic Guidance
- Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop
- Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
- FetchBot: Object Fetching in Cluttered Shelves via Zero-Shot Sim2Real
- FFHFlow: A Flow-based Variational Approach for Learning Diverse Dexterous Grasps with Shape-Aware Introspection
- From Real World to Logic and Back: Learning Generalizable Relational Concepts For Long Horizon Robot Planning
- From Simple to Complex Skills: The Case of In-Hand Object Reorientation ➕
- Generalizable Humanoid Manipulation with 3D Diffusion Policies
- Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis
- Generative Artificial Intelligence in Robotic Manipulation: A Survey
- Geometry-aware 4D Video Generation for Robot Manipulation
- GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulation
- GR00T N1: An Open Foundation Model for Generalist Humanoid Robots + v1.5
- Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schrödinger Bridges
- GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training
- Grounded Vision-Language Interpreter for Integrated Task and Motion Planning
- HOMER: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
- Humanoid Policy ~ Human Policy
- ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation
- Improving Vision-Language-Action Model with Online Reinforcement Learning
- [KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation]https://arxiv.org/abs/2505.01974)
- KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
- Latent Adaptive Planner for Dynamic Manipulation
- Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation
- LatentHOI: On the Generalizable Hand Object Motion Generation with Latent Hand Diffusion
- Learning Gentle Grasping Using Vision, Sound, and Touch ➕
- Learning Long-Horizon Robot Manipulation Skills via Privileged Action
- Learning to Play Piano in the Real World ➕
- Learning to Transfer Human Hand Skills for Robot Manipulations ➕
- LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations
- Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools
- ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning
- ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
- Merging and Disentangling Views in Visual Reinforcement Learning for Robotic Manipulation
- Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation
- Motion Blender Gaussian Splatting for Dynamic Scene Reconstruction
- MuJoCo Playground
- Multi-critic Learning for Whole-body End-effector Twist Tracking
- MultiGen: Using Multimodal Generation in Simulation to Learn Multimodal Policies in Real
- MuST: Multi-Head Skill Transformer for Long-Horizon Dexterous Manipulation with Skill Progress
- Object-centric 3D Motion Field for Robot Learning from Human Videos
- Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
- RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
- Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware
- REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly
- Rethinking Latent Representations in Behavior Cloning: An Information Bottleneck Approach for Robot Manipulation
- ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations
- RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
- RobustDexGrasp: Robust Dexterous Grasping of General Objects
- RUKA: Rethinking the Design of Humanoid Hands with Learning ➕
- S$^2$-Diffusion: Generalizing from Instance-level to Category-level Skills in Robot Manipulation
- SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
- SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulation
- Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand
- SAVOR: Skill Affordance Learning from Visuo-Haptic Perception for Robot-Assisted Bite Acquisition
- Scalable, Training-Free Visual Language Robotics: A Modular Multi-Model Framework for Consumer-Grade GPUs
- scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation
- ScrewSplat: An End-to-End Method for Articulated Object Recognition
- Self-supervised perception for tactile skin covered dexterous hands
- Sequential Multi-Object Grasping with One Dexterous Hand
- Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
- SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation
- SLAC: Simulation-Pretrained Latent Action Space for Whole-Body Real-World RL
- Steering Your Diffusion Policy with Latent Space Reinforcement Learning
- Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories
- Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation
- Touch begins where vision ends: Generalizable policies for contact-rich manipulation
- Touch in the Wild: Learning Fine-Grained Manipulation with a Portable Visuo-Tactile Gripper
- Training Strategies for Efficient Embodied Reasoning
- TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types
- Universal Actions for Enhanced Embodied Foundation Models
- Versatile Loco-Manipulation through Flexible Interlimb Coordination
- Vision in Action: Learning Active Perception from Human Demonstrations
- ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
- VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
- VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning
- What Matters for Batch Online Reinforcement Learning in Robotics?
- When Pre-trained Visual Representations Fall Short: Limitations in Visuo-Motor Robot Learning
- X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real
- Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks
- ZeroBP: Learning Position-Aware Correspondence for Zero-shot 6D Pose Estimation in Bin-Picking
- π0.5: a Vision-Language-Action Model with Open-World Generalization
2024
- 3D Diffuser Actor: Policy Diffusion with 3D Scene Representations ➕
- 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
- ACE: A Cross-platform Visual-Exoskeletons for Low-Cost Dexterous Teleoperation
- ALPHA-α and Bi-ACT Are All You Need: Importance of Position and Force Information/Control for Imitation Learning of Unimanual and Bimanual Robotic Manipulation with Low-Cost System
- AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch ➕
- AnySkin: Plug-and-play Skin Sensing for Robotic Touch
- ASID: Active Exploration for System Identification in Robotic Manipulation
- AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries ➕
- Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning ➕
- Behavior Generation with Latent Actions ➕
- Bimanual Dexterity for Complex Tasks ➕
- Biomimetic rigid-soft finger design for highly dexterous and adaptive robotic hands
- Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards ➕
- Bridging the Resource Gap: Deploying Advanced Imitation Learning Models onto Affordable Embedded Platforms
- CHG-DAgger: Interactive Imitation Learning with Human-Policy Cooperative Control
- ClevrSkills: Compositional Language and Visual Reasoning in Robotics
- Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation ➕
- CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation
- D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation
- DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation ➕
- DexDiffuser: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation ➕
- DexTouch: Learning to Seek and Manipulate Objects with Tactile Dexterity
- DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
- DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
- DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality ➕
- Diff-Control: A Stateful Diffusion-based Policy for Imitation Learning ➕
- DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation
- Effective Tuning Strategies for Generalist Robot Manipulation Policies
- Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance
- EgoMimic: Scaling Imitation Learning via Egocentric Video
- Embodied Manipulation with Past and Future Morphologies through an Open Parametric Hand Design
- Error-Feedback Model for Output Correction in Bilateral Control-Based Imitation Learning
- Eureka: Human-Level Reward Design via Coding Large Language Models
- Exploring the Adversarial Vulnerabilities of Vision-Language-Action Models in Robotics
- Flow Matching Imitation Learning for Multi-Support Manipulation ➕
- FlowPolicy: Enabling Fast and Robust 3D Flow-based Policy via Consistency Flow Matching for Robot Manipulation
- G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation
- GenSim: Generating Robotic Simulation Tasks via Large Language Models
- Grasp Anything: Combining Teacher-Augmented Policy Gradient Learning with Instance Segmentation to Grasp Arbitrary Objects
- Grasp as You Say: Language-guided Dexterous Grasp Generation
- Grasp Multiple Objects with One Hand
- Grasping Diverse Objects with Simulated Humanoids ➕
- GraspXL: Generating Grasping Motions for Diverse Objects at Scale ➕
- Hand-Object Interaction Pretraining from Videos ➕
- ICRT: In-Context Imitation Learning via Next-Token Prediction
- Instant Policy: In-Context Imitation Learning via Graph Diffusion ➕
- Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations
- Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers
- Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects ➕
- Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing
- Learning Multimodal Behaviors from Scratch with Diffusion Policy Gradient
- Learning Precise Affordances from Egocentric Videos for Robotic Manipulation
- LEGATO: Cross-Embodiment Imitation Using a Grasping Tool ➕
- Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulation ➕
- METRA: Scalable Unsupervised RL with Metric-Aware Abstraction
- Offline Imitation Learning through Graph Search and Retrieval
- On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer
- OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation
- PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments ➕
- RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
- ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning
- RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective ➕
- Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing ➕
- Robots Pre-train Robots: Manipulation-Centric Robotic Representation from Large-Scale Robot Datasets ➕
- Robust Adaptive Safe Robotic Grasping with Tactile Sensing
- Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand
- ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
- Sim2Real Manipulation on Unknown Objects with Tactile-based Reinforcement Learning
- SkillTree: Explainable Skill-Based Deep Reinforcement Learning for Long-Horizon Control Tasks
- SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation ➕
- STEER: Flexible Robotic Manipulation via Dense Language Grounding
- TacEx: GelSight Tactile Simulation in Isaac Sim - Combining Soft-Body and Visuotactile Simulators
- TacSL: A Library for Visuotactile Sensor Simulation and Learning
- THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation ➕
- The Foundational Pose as a Selection Mechanism for the Design of Tool-Wielding Multi-Finger Robotic Hands
- The Role of Action Abstractions in Robot Manipulation Learning and Sim-to-Real Transfer
- Touch2Touch: Cross-Modal Tactile Generation for Object Manipulation
- Towards Tight Convex Relaxations for Contact-Rich Manipulation ➕
- Twisting Lids Off with Two Hands
- Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation ➕
- VidMan: Exploiting Implicit Dynamics from Video Diffusion Model for Effective Robot Manipulation
- VLMPC: Vision-Language Model Predictive Control for Robotic Manipulation
- VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding ➕
- WHALE: Towards Generalizable and Scalable World Models for Embodied Decision-making
2023
- A Model-Free Approach to Fingertip Slip and Disturbance Detection for Grasp Stability Inference
- A Real2Sim2Real Method for Robust Object Grasping with Neural Surface Reconstruction
- AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System ➕
- Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions
- Deep Reinforcement Learning of Dexterous Pre-grasp Manipulation for Human-like Functional Categorical Grasping
- DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects
- DexDeform: Dexterous Deformable Object Manipulation with Human Demonstrations and Differentiable Physics ➕
- DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training
- Dynamic Handover: Throw and Catch with Bimanual Hands
- From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation
- General In-Hand Object Rotation with Vision and Touch
- Geometric Reinforcement Learning For Robotic Manipulation
- Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints ➕
- Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models
- IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality ➕
- Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation
- Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies
- Rotating without Seeing: Towards In-hand Dexterity through Touch ➕
- Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation
- Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation
- Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors
- UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning ➕
- Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes
2022
- DexMV: Imitation Learning for Dexterous Manipulation from Human Videos
- DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation
- Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation
- Efficient Tactile Simulation with Differentiability for Robotic Manipulation ➕
- Factory: Fast Contact for Robotic Assembly ➕
- Human to Robot Hand Motion Mapping Methods: Review and Classification
- In-Hand Object Rotation via Rapid Motor Adaptation
- Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube
- Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch
2021
- A System for General In-Hand Object Re-Orientation
- O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning
- OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
- ReSkin: versatile, replaceable, lasting tactile skins ➕
- STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
- Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry ➕
- Towards Complex and Continuous Manipulation: A Gesture Based Anthropomorphic Robotic Hand Design
2020
- A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects ➕
- Cable Manipulation with a Tactile-Reactive Gripper ➕
- DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation
- Precise and realistic grasping and manipulation in Virtual Reality without force feedback
- TACTO: A Fast, Flexible and Open-source Simulator for High-Resolution Vision-based Tactile Sensors
~ 2019
- A grasp strategy with the geometric centroid of a groped object shape derived from contact spots
- A modular, distributed, soft, 3-axis sensor system for robot hands
- Covering a Robot Fingertip with uSkin: a Soft Electronic Skin with Distributed 3-axis Force Sensitive Elements for Robot Hands
- DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
- Integration of recognition and planning for robot hand grasping
- Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
- Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization}
- Task-Oriented Hand Motion Retargeting for Dexterous Manipulation Imitation
Repositories
GENERAL - UNSORTED
TUTORIALS - SURVEYS
BENCHMARKS
LEARNING
- Learning: Simulation Platforms
- Learning: Simulation Platforms - Tactile
- Learning: Simulation Platforms - Deformable / Soft body
- Learning: Environments - Frameworks - Stacks
- Learning: Visuo(tactile) Motor - Representation
- Learning: Single-arm/hand
- Learning: Bimanual/Dual-arm/hand
- Learning: Mobile manipulation
LEARNING - MODELS
- Models: LLM-LAM-VLAM Surveys
LEARNING - DATASETS
- Datasets: Manipulation
- Datasets: Assembly
- Datasets: Bimanual/Dual-arm/hand
- Datasets: Mobile manipulation
- Datasets: Grasp Synthesis
- MultiDex Dataset
- UniDexGrasp_CVPR2023
- Based on 3D dataset
- Uses DexGraspNet for dataset generation
- Based on 3D dataset
- Datasets: Grasp Synthesis - Sim2Real: Towards Robustness & Stability
- Datasets: Dual-grasp Synthesis
- Datasets: Human grasp Synthesis (for Imitation learning/Functional retargeting)
GRIPPER GRASP GENERATION
- Gripper grasp: Equivariant
PLANNING
- Planning: FK - IK
- Planning: Collision avoidance
COLLISION
TRAINING-FREE IN-HAND MANIPULATION
DYNAMICS
CONTROL
- Optimal control
- Optimizing-based MPC
- Sampling-based MPC
- Learning-based MPC
- Data-driven Control
- Visuomotor Control
Videos
Courses/Tutorials
- Advanced Robotics, Fall 2019, Prof. Pieter Abbeel, UC Berkeley
- Control Bootcamp, Prof. Steve Brunton
- Introduction to Robotics, Prof. Oussama Khatib, Stanford
- MATLAB Tech Talks
- Robotic Manipulation, Fall 2023, Prof. Russ Tedrake, MIT - Final Projects - Further - Website
- Robotics, Engineering Educator Academy
Seminars/Talks
- CMU Robotics Institute Seminar Series - Website
- MIT Robotics Seminar - Website
- Stanford CS25, Transformers United - Website
- Stanford Robotics Seminar - Website
Contact-Rich Manipulation
- ICRA 2025 Workshop: Beyond Pick and Place-Unifying Learning-Based and Model-Based Approaches for Contact-Rich Manipulation - OpenReview
- ICRA 2025 Workshop: Learning Meets Model-Based Methods for Contact-Rich Manipulation - OpenReview
- IROS 2023 Workshop: Leveraging Models for Contact-Rich Manipulation - OpenReview
Deformable Objects Manipulation
Dexterous Manipulation
- ICRA 2025 Workshop: Handy Moves: Dexterity in Multi-Fingered Hands - Videos - OpenReview
- RSS 2024 Workshop: Dexterous Manipulation: Design, Perception and Control - Videos - OpenReview
- RSS 2025 Workshop: Dexterous Manipulation: Learning and Control with Diverse Data - Videos - OpenReview
Mobile Manipulation
Learning-based & Data-driven Manipulation
- CoRL 2022 Workshops - Openreview
- CoRL 2023 Workshops - Openreview
- CoRL 2024 Workshops - Openreview
- CoRL 2025 Workshops - Openreview
- RSS 2023 Workshops - OpenReview
TAMP-Task and Motion Planning
- ICRA 2025 Workshop: Language and Semantics of Task and Motion Planning - OpenReview
- RSS 2023 Workshop: Learning for Task and Motion Planning - Videos - OpenReview
- RSS 2025 Workshop: Fast Motion Planning and Control in the Era of Parallelism - OpenReview
Visuo(tactile) Motor & Representation Learning in Manipulation
| End Effectors | Arms |
|---|---|
| Allegro Hand | Franka |
| DG-5F | UR |
| DLR Hand | Kossow |
| Leap Hand | Ufactory |
| Shadow Hand | Kinova |
| RH56DFX | Kuka |
| Doosan - MJCF |