This repo contains a curated list of Robot Manipulation papers at the intersection of robotics and deep learning..
This repository will be continuously updated, and we warmly welcome contributions from the community. If you have papers, projects, or resources that are not yet included, please feel free to submit them via a pull request, open an issue for discussion or email us to add papers!
Our comprehensive survey is in progress—stay tuned for updates!
- [2025/07] Expanded coverage of Dexterous, Soft Robotic, Mobile, Quadrupedal, and Humanoid Manipulation; refined the categorization and content for Awesome Simulators, Benchmarks, and Datasets，added non-learning-based control methods.
- [2025/06] Introduced new sections on Grasping in Cluttered Scenes, Quadrupedal and Humanoid Manipulation, and Learning from Human Demonstrations. Also improved the classification of the Applications section and added a subsection on Embodied QA Datasets.
- [2025/02] Added a new section on Bimanual Grasping.
- [2024/12] Introduced coverage of Dexterous Grasping.
- [2024/10] Repository is now public!
- 📝 Awesome Papers
- 📄 Survey
- 🦾 Grasp
- 🤖 Manipulation
- Representation Learning with Auxiliary Tasks
- Visual Imitation Learning
- Learning from Demonstrations
- Latent Action Learning
- World Model
- Asynchronous Action Learning
- Diffusion Policy Learning
- Other Policies
- Vision Language Action Models
- Tactile-based Action Models
- Reinforcement Learning
- Motion, Tranjectory and Flow
- Data Collection, Selection and Augmentation
- Affordance Learning
- 3D Representation for Manipulation
- 3D Representation Policy Learning
- High-level Planner
- Generalization
- Generalist
- Human-Robot Interaction and Collaboration
- Dexterous Manipulation
- Soft Robotic Manipulation
- Deformable Object Manipulation
- Mobile Manipulation
- Quadrupedal Manipulation
- Humanoid Manipulation
- Other Applications
- 📊 Awesome Simulators, Benchmarks and Datasets
- 🛠️ Awesome Techniques
| Title | Venue | Date | Code |
|---|---|---|---|
| Behavior-Grounded Representation of Tool Affordances | ICRA 2005 | 2006-04 | - |
| Graspit! a Versatile Simulator for Robotic Grasping | RAM 2004 | 2004-12 | Project |
| A fast and robust grasp planner for arbitrary 3D objects | ICRA 1999 | 1999-05 | - |
| Planning Two-fingered Grasps for Pick-and-Place Operations on Polyhedra | ICRA 1990 | 1990-05 | - |
| Title | Venue | Date | Code |
|---|---|---|---|
| SDF | |||
| IGD: Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping | CoRL 2024 | 2024-09-05 |  Github |
| NeuGraspNet: Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Rendering | RSS 2024 | 2023-06-12 | - |
| Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter | CoRL 2020 | 2021-01-04 |  Github |
| NeRF | |||
| LERF-TOGO: Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping | CoRL 2023 | 2023-09-14 |  Github |
| GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF | ICRA 2023 | 2022-10-12 |  Github |
| 3D Gaussian Splatting (3DGS) | |||
| SparseGrasp: Robotic Grasping via 3D Semantic Gaussian Splatting from Sparse Multi-View RGB Images | arXiv | 2024-12-03 | - |
| GraspSplats: Efficient Manipulation with 3D Feature Splatting | CoRL 2024 | 2024-09-03 |  Github |
| GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping | RA-L 2024 | 2024-03-14 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| DCIRNet: Depth Completion with Iterative Refinement for Dexterous Grasping of Transparent and Reflective Objects | arXiv | 2025-06-11 | - |
| SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Grasping | arXiv | 2025-05-30 | Project |
| FuseGrasp: Radar-Camera Fusion for Robotic Grasping of Transparent Objects | arXiv | 2025-02-27 | - |
| TranSplat: Surface Embedding-guided 3D Gaussian Splatting for Transparent Object Manipulation | arXiv | 2025-02-11 | - |
| T2SQNet: A Recognition Model for Manipulating Partially Observed Transparent Tableware Objects | CoRL 2024 | 2024-09-06 |  Github |
| Residual-NeRF: Learning Residual NeRFs for Transparent Object Manipulation | ICRA 2024 | 2024-05-10 |  Github |
| ASGrasp: Generalizable Transparent Object Reconstruction and Grasping from RGB-D Active Stereo Camera | ICRA 2024 | 2024-05-09 |  Github |
| Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects | CoRL 2021 | 2021-10-27 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| You Only Estimate Once: Unified, One-stage, Real-Time Category-level Articulated Object 6D Pose Estimation for Robotic Grasping | ICRA 2025 | 2025-06-06 | Project |
| Grasp What You Want: Embodied Dexterous Grasping System Driven by Your Voice | arXiv | 2024-12-14 | Project |
| UniGraspTransformer: Simplified Policy Distillation for Scalable Dexterous Robotic Grasping | arXiv | 2024-12-03 |  Github |
| Grasp as You Say: Language-guided Dexterous Grasp Generation | NeurIPS 2024 | 2024-05-29 |  Github |
| D(R, O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping | CoRLW 2024 | 2024-10-02 |  Github |
| Dexterous Grasp Transformer | CVPR 2024 | 2024-04-28 |  Github |
| DexDiffuser: Generating Dexterous Grasps with Diffusion Models | RA-L 2024 | 2024-02-05 |  Github |
| GenDexGrasp: Generalizable Dexterous Grasping | ICRA 2023 | 2022-10-03 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping | arXiv | 2025-02-12 | Project |
| Learning Ambidextrous Robot Grasping Policies | SR 2019 | 2029-01-30 | - |
| Title | Venue | Date | Code |
|---|---|---|---|
| HiBerNAC: Hierarchical Brain-emulated Robotic Neural Agent Collective for Disentangling Complex Manipulation | arXiv | 2025-06-09 | - |
| Fast-in-Slow: A Dual-System Foundation Model Unifying Fast Manipulation within Slow Reasoning | arXiv | 2025-06-02 |  Github |
| OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation | arXiv | 2025-05-06 |  Github |
| PIVOT-R: Primitive-Driven Waypoint-Aware World Model for Robotic Manipulation | NeurIPS 2024 | 2024-10-14 |  Github |
| RoboDual: Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation | arXiv | 2024-10-10 |  Github |
| HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers | CoRL 2024 | 2024-09-12 | - |
| LCB: From LLMs to Actions: Latent Codes as Bridges in Hierarchical Robot Control | IROS 2024 | 2024-05-08 | Project |
| MResT: Multi-Resolution Sensing for Real-Time Control with Vision-Language Models | CoRL 2023 | 2024-01-25 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| FLAME: A Federated Learning Benchmark for Robotic Manipulation | arXiv | 2025-03-03 | - |
| Two by Two: Learning Multi-Task Pairwise Objects Assembly for Generalizable Robot Manipulation | CVPR 2025 | 2025-04-09 |  Github |
| FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning | IJRR 2024 | 2024-01-16 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| Awesome-Implicit-NeRF-Robotics: Neural Fields in Robotics: A Survey | - | 2024-10-26 |  Github |
| Awesome-Video-Robotic-Papers | - | 2024 |  Github |
| Awesome-Generalist-Robots-via-Foundation-Models: Neural Fields in Robotics: A Survey | - | 2024 |  Github |
| Awesome-Robotics-3D | - | 2024 |  Github |
| Awesome-Robotics-Foundation-Models: Foundation Models in Robotics: Applications, Challenges, and the Future | - | 2023-12-13 |  Github |
| Awesome-LLM-Robotics | - | 2022 |  Github |
If you find this repository useful, please consider citing this list:
@misc{ccbci&openhelix2024roboticsmanipulation,
title = {Awesome-Robotics-Manipulation},
author = {CC-BCI Group and OpenHelix Team},
journal = {GitHub repository},
url = {https://github.com/BaiShuanghao/Awesome-Robotics-Manipulation},
year = {2024},
}
- XJTU Cognitive Computing and Brain-Computer Interaction (CC-BCI) Group, Prof. Badong Chen [Google Scholar].
- OpenHelix Team, Ph.D. Stu. Pengxiang Ding [Google Scholar].