This repo contains a curated list of Robot Manipulation papers relating to Robotics domain.
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 me to add papers!
- Awesome Papers
- Survey
- Grasp
- Manipulation
- Representation Learning with Auxiliary Tasks
- Visual Representation Learning
- Multimodal Representation Learning
- Latent Action Learning
- World Model
- Asynchronous Action Learning
- Diffusion Policy Learning
- Other Policies
- Vision Language Action Models
- Reinforcement Learning
- Motion, Tranjectory and Flow
- Data Collection, Selection and Augmentation
- Affordance Learning
- 3D Representation for Manipulation
- 3D Representation Policy Learning
- Reasoning, Planning and Code Generation
- Generalization
- Generalist
- Human-Robot Interaction and Collaboration
- Mobile Manipulation
- Tactile-based Manipulation
- Dexterous Manipulation
- Other Applications
- Awesome Benchmarks
- Awesome-techniques
| Title | Venue | Date | Code |
|---|---|---|---|
| RoboGrasp: A Universal Grasping Policy for Robust Robotic Control | arXiv | 2025-02-05 | - |
| HMT-Grasp: A Hybrid Mamba-Transformer Approach for Robot Grasping in Cluttered Environments | arXiv | 2024-10-04 | - |
| LLGD: Lightweight Language-driven Grasp Detection using Conditional Consistency Model | IROS 2024 | 2024-07-25 |  Github |
| grasp_det_seg_cnn: End-to-end Trainable Deep Neural Network for Robotic Grasp Detection and Semantic Segmentation from RGB | ICRA 2021 | 2021-07-12 |  Github |
| GR-ConvNet: Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network | IROS 2020 | 2019-09-11 |  Github |
| Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach | RSS 2018 | 2018-04-14 |  Github |
| Robotic Grasp Detection using Deep Convolutional Neural Networks | IROS 2017 | 2016-11-24 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Grasping | CVPR 2025 | 2025-04-15 | Project |
| 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 | - |
| 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 |
|---|---|---|---|
| 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 |
| 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 |
|---|---|---|---|
| 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 |
| Title | Venue | Date | Code |
|---|---|---|---|
| COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping | arXiv | 2025-02-12 | Project |
| Title | Venue | Date | Code |
|---|---|---|---|
| MS-Bot: Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation | CoRL 2024 | 2024-08-02 |  Github |
| MUTEX: Learning Unified Policies from Multimodal Task Specifications | CoRL 2023 | 2023-09-25 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| 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 |
|---|---|---|---|
| Dense Policy: Bidirectional Autoregressive Learning of Actions | arXiv | 2025-03-17 |  Github |
| RoboBERT: An End-to-end Multimodal Robotic Manipulation Model | arXiv | 2025-02-11 |  Github |
| EnerVerse: Envisioning Embodied Future Space for Robotics Manipulation | arXiv | 2025-01-03 | Project |
| CARP: Visuomotor Policy Learning via Coarse-to-Fine Autoregressive Prediction | arXiv | 2024-12-09 |  Github |
| FlowPolicy: Enabling Fast and Robust 3D Flow-based Policy via Consistency Flow Matching for Robot Manipulation | AAAI 2025 | 2024-12-06 |  Github |
| Autoregressive Action Sequence Learning for Robotic Manipulation | arXiv | 2024-10-04 |  Github |
| MaIL: Improving Imitation Learning with Selective State Space Models | CoRL 2024 | 2024-06-12 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| Robi Butler: Remote Multimodal Interactions with Household Robot Assistant | arXiv | 2024-09-30 | Project |
| TaMMa: Target-driven Multi-subscene Mobile Manipulation | CoRL 2024 | 2024-09-06 | - |
| SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning | CoRL 2023 | 2024-07-12 | Project |
| Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation | CoRL 2024 | 2024-01-04 |  Github |
| GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion | ICRA 2024 | 2023-09-27 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenes | arXiv | 2025-04-09 | Project |
| QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity | arXiv | 2024-10-03 | Project |
| Real-to-Sim Grasp: Rethinking the Gap between Simulation and Real World in Grasp Detection | CoRL 2024 | 2024-10-09 | Project |
| Grasp-Anything-6D: Language-Driven 6-DoF Grasp Detection Using Negative Prompt Guidance | ECCV 2024 | 2024-07-18 |  Github |
| Grasp-Anything++: Language-driven Grasp Detection | CVPR 2024 | 2024-06-13 |  Github |
| Grasp-Anything: Large-scale Grasp Dataset from Foundation Models | ICRA 2024 | 2023-09-18 |  Github |
| GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping | CVPR 2020 | 2020-08-05 |  Github |
| Jacquard: A Large Scale Dataset for Robotic Grasp Detection | IROS 2018 | 2018-03-30 | Project |
| Title | Venue | Date | Code |
|---|---|---|---|
| ImagineBench: Evaluating Reinforcement Learning with Large Language Model Rollouts | arXiv | 2025-05-15 |  Github |
| RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning | RSS 2025 | 2025-04-26 |  Github |
| RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation | arXiv | 2024-12-18 |  Github |
| GENESIS: A generative world for general-purpose robotics & embodied AI learning | - | - |  Github |
| ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI | arXiv | 2024-10-01 |  Github |
| All Robots in One: A New Standard and Unified Dataset for Versatile, General-Purpose Embodied Agents | arXiv | 2024-08-20 | Dataset |
| CortexBench: Where are we in the search for an Artificial Visual Cortex for Embodied Intelligence? | NeurIPS 2023 | 2023-03-31 |  Github |
| Isaac Lab: Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments | RA-L 2023 | 2023-01-10 |  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{bai2024roboticsmanipulation,
title = {Awesome-Robotics-Manipulation},
author = {Bai, Shuanghao and Ding, Pengxiang and Zhang, Haoran},
journal = {GitHub repository},
url = {https://github.com/BaiShuanghao/Awesome-Robotics-Manipulation},
year = {2024},
}