Awesome-Robotics-Manipulation

✨ About

This repository curates research papers on robot manipulation, featuring a smaller collection of non-learning control methods and a larger body of learning-based approaches.

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!

📢 News

• [2026/04] Updated venue information for most papers and removed a few references without publicly available code. Refined the taxonomy under High-Level Planning, separated Video-Based Planners into an independent subsection, and are revising the Motion Planning section. Added coverage of Aerial Manipulation and Underwater Manipulation, and improved categories such as Human Teleoperation under Data Collection.
• [2025/10] Our paper Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey is on available!
• [2025/08] Major revision of the classification system with a more refined taxonomy; substantial improvements across all sections.
• [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 Grasp 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 Grasp.
• [2024/12] Introduced coverage of Dexterous Grasp.
• [2024/10] Repository is now public!

Stay tuned for updates to this comprehensive survey!

Summary of Survey

🏠 Table of Contents

• 📝 Awesome Papers
  • 📄 Survey
  • Manipulation Tasks
    • Grasp
    • Basic Manipulation
    • Dexterous Manipulation
    • Soft Robotic Manipulation
    • Deformable Object Manipulation
    • Mobile Manipulation
    • Quadrupedal Manipulation
    • Humanoid Manipulation
    • Aerial Manipulation
    • Underwater Manipulation
  • High-level Structured Planning
    • Task Planning
    • Programmatic Planning
    • Multimodal Reasoning
    • Geometric Constraint-based Planning
    • Affordance Learning
    • 3D Representation-based Planning
    • Video-based Planning
  • Low-level Learning-based Action Modelling
    • Learning Strategy
      • Imitation Learning (IL)
      • Reinforcement Learning (RL)
      • RL and IL
      • Learning with Auxiliary Tasks
    • Input Modelling
      • Vision Action Models
      • Vision Language Action Models
      • Tactile-based Action Models
      • Other Modalities
    • Latent Learning
      • Pretrained Latent Learning
      • Latent Action Learning
    • Policy Learning
      • Diffusion Policy
      • Flow Matching Policy
      • Other Policies
  • Bottlenecks
    • Data Collection and Utilization
      • Data Collection
      • Data Utilization
    • Generalization
      • Task Generalization
      • Environment Generalization
      • Cross-Embodiment Generalization
  • Applications
• 📊 Awesome Simulators, Benchmarks and Datasets
  • Grasp Datasets
  • Single-Embodiment Manipulation Simulators and Benchmarks
  • Cross-Embodiment Simulators and Benchmarks
  • Other Simulators and Benchmarks
  • Trajectory Datasets
  • Embodied QA and Affordance Datasets
  • Human and Robotic Video Benchmarks and Datasets
• 🛠️ Awesome Techniques
  • Tutorial
  • Github Repo

📝 Awesome Papers

📄 Survey

Title	Venue	Date	Code	Notes
VLA Models
Vision-Language-Action in Robotics: A Survey of Datasets, Benchmarks, and Data Engines	TMLR 2026	2026-04-24	Github	VLA + Data
Vision-Language-Action Safety: Threats, Challenges, Evaluations, and Mechanisms	arXiv	2026-04-26	Github	VLA + Robustness
An Anatomy of Vision-Language-Action Models: From Modules to Milestones and Challenges	arXiv	2025-12-12	Github	VLA
A Survey on Efficient Vision-Language-Action Models	arXiv	2025-10-27	Github	VLA Models + Efficiency
Efficient Vision-Language-Action Models for Embodied Manipulation: A Systematic Survey	arXiv	2025-10-20	-	VLA + Efficiency
Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications	IEEE Access 2025	2025-10-08	Project	VLA
Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey	arXiv	2025-08-23	Github	VLA
Survey of Vision-Language-Action Models for Embodied Manipulation	arXiv	2025-08-21	-	VLA
Vision Language Action Models in Robotic Manipulation: A Systematic Review	arXiv	2025-07-14	-	VLA
A Survey on Vision-Language-Action Models: An Action Tokenization Perspective	arXiv	2025-07-02	-	VLA
Parallels Between VLA Model Post-Training and Human Motor Learning: Progress, Challenges, and Trends	arXiv	2025-05-26	Github	VLA
Vision-Language-Action Models: Concepts, Progress, Applications and Challenges	arXiv	2025-05-07	-	VLA
A Survey on Vision-Language-Action Models for Embodied AI	arXiv	2024-05-23	-	VLA
World Model
From World Action Models to Embodied Brains: A Roadmap for Open-World Physical Intelligence	arXiv	2026-07-13	-	World Model
A Definition and Roadmap for World Models	arXiv	2026-07-07	-	World Model
World Models for Robotic Manipulation: A Survey	arXiv	2026-05-27	-	World Model
World Action Models: The Next Frontier in Embodied AI	arXiv	2026-05-12	Github	World Model
World Model for Robot Learning: A Comprehensive Survey	arXiv	2026-04-30	Github	World Model
A Step Toward World Models: A Survey on Robotic Manipulation	arXiv	2025-10-31	-	World Model
Dexterous Manipulation
The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey	arXiv	2025-07-16	-	Dexterous Manipulation
Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey	arXiv	2025-06-30	-	Dexterous Manipulation
Dexterous Manipulation through Imitation Learning: A Survey	arXiv	2025-04-04	-	Dexterous Manipulation
Deformable Object Manipulation (DOM)
T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects	arXiv	2024-12-30	Project	DOM
A Survey on Robotic Manipulation of Deformable Objects: Recent Advances, Open Challenges and New Frontiers	arXiv	2023-12-16	-	DOM
Robotic manipulation and sensing of deformable objects in domestic and industrial applications: a survey	IJRR 2018	2018-06-13	-	DOM
Humanoid Manipulation
Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning	arXiv	2025-01-03	-	Humanoid Manipulation
Teleoperation of Humanoid Robots: A Survey	T-RO 2024	2023-01-11	Project	Humanoid
Others
Safety in Embodied AI: A Survey of Risks, Attacks, and Defenses	arXiv	2026-05	Github	Embodied + Safety
Robot Learning from Human Videos: A Survey	arXiv	2026-04-30	Github	Video
3D Generation for Embodied AI and Robotic Simulation: A Survey	arXiv	2026-04-29	-	3D
Foundation Models in Robotics: A Comprehensive Review of Methods, Models, Datasets, Challenges and Future Research Directions	arXiv	2026-04-16	-	Robotics
From Video to Control: A Survey of Learning Manipulation Interfaces from Temporal Visual Data	arXiv	2026-04-04	-	Video
Toward Generalist Neural Motion Planners for Robotic Manipulators: Challenges and Opportunities	TASE 2026	2026-03-25	Github	Motion Planning
Video Generation Models in Robotics -- Applications, Research Challenges, Future Directions	arXiv	2026-01-12	-	Video Generation
Embodied Robot Manipulation in the Era of Foundation Models: Planning and Learning Perspectives	arXiv	2025-12-28	-	Manipulation
Safe Learning for Contact-Rich Robot Tasks: A Survey from Classical Learning-Based Methods to Safe Foundation Models	arXiv	2025-12-10	-	Contact-Rich Manipulation
Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey	arXiv	2025-10-13	Github	Manipulation
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI	arXiv	2025-05-01	-	Navigation and Manipulation
Diffusion Models for Robotic Manipulation: A Survey	arXiv	2025-04-11	-	Manipulation + DP
Multimodal Fusion and Vision-Language Models: A Survey for Robot Vision	arXiv	2025-04-03	Github	Robot Vision
Generative Artificial Intelligence in Robotic Manipulation: A Survey	arXiv	2025-03-05	Github	Manipulation + Generative Models
A Survey of Embodied Learning for Object-Centric Robotic Manipulation	MIR 2025	2024-08-21	Github	Manipulation + Object-Centric
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI	arXiv	2024-07-09	Github	Embodied Agent
Survey of Learning-based Approaches for Robotic In-Hand Manipulation	arXiv	2024-01-15	-	In-hand Manipulation
Language-conditioned Learning for Robotic Manipulation: A Survey	arXiv	2023-12-17	Github	Manipulation
Deep Learning Approaches to Grasp Synthesis: A Review	T-RO 2023	2023-07-06	Project	Grasp
A Survey of Wheeled Mobile Manipulation: A Decision Making Perspective	J. Mech. Robot. 2023	2023-04	-	Mobile Manipulation
A Review of Soft Manipulator Research, Applications, and Opportunities	J Field Robot. 2023	2023-04	-	Soft Manipulator

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Note: Other papers are summarized in the Contents.

📊 Awesome Simulators, Benchmarks and Dataset

Grasp Datasets

Title	Venue	Date	Code
Rectangle-based Grasp
RealVLG-R1: A Large-Scale Real-World Visual-Language Grounding Benchmark for Robotic Perception and Manipulation	CVPR 2026	2026-03-16	Github
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
REGRAD: A Large-Scale Relational Grasp Dataset for Safe and Object-Specific Robotic Grasping in Clutter	ICRA 2021	2021-04-29	Github
Jacquard: A Large Scale Dataset for Robotic Grasp Detection	IROS 2018	2018-03-30	Project
Cornell: Efficient Grasping from RGBD Images: Learning Using a New Rectangle Representation	ICRA 2011	2011-08	-
6-DoF Grasp
GraspFactory: A Large Object-Centric Grasping Dataset	CoRLW 2025	2025-09-24	Github
MapleGrasp: Mask-guided Feature Pooling for Language-driven Efficient Robotic Grasping	WACV 2026	2025-06-06	-
GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenes	RA-L 2025	2025-04-09	Project
QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity	ICRA 2025	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
MetaGraspNetV2: All-in-One Dataset Enabling Fast and Reliable Robotic Bin Picking via Object Relationship Reasoning and Dexterous Grasping	TASE 2023	2023-11-06	Github
MetaGraspNet: A Large-Scale Benchmark Dataset for Scene-Aware Ambidextrous Bin Picking via Physics-based Metaverse Synthesis	CASE 2022	2022-08-08	Github
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation	ICRA 2021	2020-11-18	Github
GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping	CVPR 2020	2020-08-05	Github
Dexterous Grasp
HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps	arXiv	2026-04-16	Project
Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation	RSS 2025	2025-06-20	Project
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes	CoRL 2024	2024	Github
UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Hands	RA-L 2025	2025-08-05	Github
DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation	ICRA 2023	2022-10-06	Github

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Basic Manipulation with a Single Arm

Title	Venue	Date	Code
Toward Visually Realistic Simulation: A Benchmark for Evaluating Robot Manipulation in Simulation	arXiv	2026-05-07	-
WorldComposer: From Seeing to Simulating: Generative High-Fidelity Simulation with Digital Cousins for Generalizable Robot Learning and Evaluation	arXiv	2026-04-17	Github
RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies	arXiv	2026-04-10	-
REALM: A Real-to-Sim Validated Benchmark for Generalization in Robotic Manipulation	arXiv	2025-12-22	Github
RobotArena: Scalable Robot Benchmarking via Real-to-Sim Translation	ICLR 2026	2025-10-27	Project
GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation	ICRA 2026	2025-10-23	Github
NEBULA: Do We Evaluate Vision-Language-Action Agents Correctly?	arXiv	2025-10-17	Github
SRMP: Search-Based Robot Motion Planning Library	arXiv	2025-09-29	Project
Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale	ICRA 2026	2025-09-18	Github
LADEV: A Language-Driven Testing and Evaluation Platform for Vision-Language-Action Models in Robotic Manipulation	arXiv	2024-10-07	-
RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios	arXiv	2024-07-09	Github
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs	CoRL 2024	2024-10-04	Github
FetchBench: A Simulation Benchmark for Robot Fetching	CoRL 2024	2024-06-17	Github
SIMPLER: Evaluating Real-World Robot Manipulation Policies in Simulation	CoRL 2024	2024-05-09	Github
Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations	ICLR 2024	2024-02-22	Github
LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning	NeurIPS 2023	2023-06-05	Github
ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes	ICCV 2023	2023-04-09	Github
VIMA: General Robot Manipulation with Multimodal Prompts	ICML 2023	2022-10-06	Github
ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills	ICLR 2023	2023-02-09	Github
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation	CoRL 2022	2022-11-11	Github
VLMbench: A Compositional Benchmark for Vision-and-Language Manipulation	NeurIPS 2022	2022-06-17	Github
ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations	NeurIPS D&B 2021	2021-07-30	Github
Robomimic: What Matters in Learning from Offline Human Demonstrations for Robot Manipulation	CoRL 2021	2021-08-06	Github
RLBench: The Robot Learning Benchmark & Learning Environment	RA-L 2020	2019-09-26	Github
Franka-Kitchen: Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning	CoRL 2019	2019-10-25	Project
Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning	CoRL 2019	2019-10-24	Github

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Basic Manipulation with Bimanual Arms

Title	Venue	Date	Code
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies	arXiv	2026-07-05	Github
Scalable Behavior Cloning with Open Data, Training, and Evaluation	arXiv	2026-06-25	Github
DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World	arXiv	2026-06-10	Github
RoboWits: Unexpected Challenges for Robotic Creative Problem Solving	arXiv	2026-05-28	Project
RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design	arXiv	2026-03-01	Github
The Great March 100: 100 Detail-oriented Tasks for Evaluating Embodied AI Agents	arXiv	2026-01-16	Github
RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation	arXiv	2025-07-01	Github
RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation	arXiv	2025-06-22	Github
RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins	CVPR 2025	2025-04-17	Github
PerAct2: Benchmarking and Learning for Robotic Bimanual Manipulation Tasks	CoRLW 2024	2024-07-29	Github

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Basic Manipulation with Long-horizon Tasks

Title	Venue	Date	Code
RoboMemArena: A Comprehensive and Challenging Robotic Memory Benchmark	arXiv	2026-05-11	Github
RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies	arXiv	2026-03-04	Project
RoboCerebra: A Large-scale Benchmark for Long-horizon Robotic Manipulation Evaluation	arXiv	2025-06-07	Project
MuBlE: MuJoCo and Blender simulation Environment and Benchmark for Task Planning in Robot Manipulation	arXiv	2025-03-03	Github
VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks	ICCV 2025	2024-12-24	Github
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation	RSS 2023	2023-05-22	Github
CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks	RA-L 2022	2021-12-06	Github
Panda-gym: Open-source Goal-conditioned Environments for Robotic Learning	NeurIPSW 2021	2021-06-25	Github
IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks	ICRA 2021	2019-11-17	Github

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Basic Manipulation with Generalization Tasks

Title	Venue	Date	Code
LIBERO-Occ: Evaluating and Improving Vision-Language-Action Models under Scene-Induced Occlusion via Viewpoint Imagination	arXiv	2026-06-09	Github
Colosseum V2: Benchmarking Generalization for Vision Language Action Models	arXiv	2026-05-26	-
LIBERO-Para: A Diagnostic Benchmark and Metrics for Paraphrase Robustness in VLA Models	arXiv	2026-03-30	Github
LIBERO-X: Robustness Litmus for Vision-Language-Action Models	arXiv	2026-02-06	Github
VLA-Arena: An Open-Source Framework for Benchmarking Vision-Language-Action Models	arXiv	2025-12-27	Project
LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models	arXiv	2025-10-15	Github
LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization	arXiv	2025-10-04	Github
INT-ACT: From Intention to Execution: Probing the Generalization Boundaries of Vision-Language-Action Models	arXiv	2025-06-11	Github
AGNOSTOS: Exploring the Limits of Vision-Language-Action Manipulations in Cross-task Generalization	NeurIPS 2025	2025-05-21	Github
Gembench: Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy	ICRA 2025	2024-10-02	Github
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation	RSSW 2024	2024-02-13	Github
KitchenShift: Evaluating Zero-Shot Generalization of Imitation-Based Policy Learning Under Domain Shifts	NeurIPSW 2021	2021	Github

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Basic Manipulation with Robustness

Title	Venue	Date	Code
ForesightSafety-VLA: A Unified Diagnostic Safety Benchmark for Vision-Language-Action Models	arXiv	2026-06-25	-
LIBERO-Safety: A Comprehensive Benchmark for Physical and Semantic Safety in Vision-Language-Action Models	ECCV 2026	2026-06-22	Github
OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation	RSS 2026	2026-06-30	Project
SafeVLA-Bench: A Benchmark for the Success-Safety Gap in Vision-Language-Action Models	arXiv	2026-05-30	Project
SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation	arXiv	2026-05-12	-

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Basic Manipulation in Real World

Title	Venue	Date	Code
VLA-REPLICA: A Low-Cost, Reproducible Benchmark for Real-World Evaluation of Vision-Language-Action Models	arXiv	2026-05-20	Github
LongBench: Evaluating Robotic Manipulation Policies on Real-World Long-Horizon Tasks	arXiv	2026-04-18	Project
ManipArena: Comprehensive Real-world Evaluation of Reasoning-Oriented Generalist Robot Manipulation	arXiv	2026-03-30	Github
AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real World	ICLRW 2025	2025-03-31	Github

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Basic Manipulation with High-level Planner

Title	Venue	Date	Code
AgenticLab: A Real-World Robot Agent Platform that Can See, Think, and Act	arXiv	2026-02-02	-
ResponsibleRobotBench: Benchmarking Responsible Robot Manipulation using Multi-modal Large Language Models	CVPR 2025	2025-12-03	Project
GENMANIP: LLM-driven Simulation for Generalizable Instruction-Following Manipulation	CVPR 2025	2025-06-12	Github
ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks	CVPR 2020	2019-12-03	Github

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Basic Manipulation with Tactile Representations

Title	Venue	Date	Code
UniVTAC: A Unified Simulation Platform for Visuo-Tactile Manipulation Data Generation, Learning, and Benchmarking	arXiv	2026-02-10	Github
ManiFeel: Benchmarking and Understanding Visuotactile Manipulation Policy Learning	arXiv	2025-05-24	Project
TacCompress: A Benchmark for Multi-Point Tactile Data Compression in Dexterous Manipulation	ACM MMW 2025	2025-05-22	-
TacSL: A Library for Visuotactile Sensor Simulation and Learning	T-RO 2025	2024-08-12	Github
Efficient Tactile Simulation with Differentiability for Robotic Manipulation	CoRL 2022	2022-09-10	Github

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Dexterous Manipulation

Title	Venue	Date	Code
DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation	arXiv	2026-07-09	Github
DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo	arXiv	2026-05-15	Github
TriFinger: An Open-Source Robot for Learning Dexterity	CoRL 2021	2020-08-08	Github
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations	RSS 2018	2017-09-28	Github

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Deformable Object Manipulation

Title	Venue	Date	Code
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects	arXiv	2026-07-05	Github
WireCraft: A Simulation Benchmark for Industrial DLO Manipulation	arXiv	2026-06-16	-
FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes	arXiv	2026-04-19	Project
DLO-Lab: Benchmarking Deformable Linear Object Manipulations with Differentiable Physics	ICML 2026	2026-06-02	Github
Real Garment Benchmark (RGBench): A Comprehensive Benchmark for Robotic Garment Manipulation featuring a High-Fidelity Scalable Simulator	AAAI 2026	2025-11-09	Github
MoDeSuite: Robot Learning Task Suite for Benchmarking Mobile Manipulation with Deformable Objects	RA-L 2025	2025-07-29	Project
DaXBench: Benchmarking Deformable Object Manipulation with Differentiable Physics	ICLR 2023	2022-10-24	Github
PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics	ICLR 2021	2021-04-07	Github
SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation	CoRL 2020	2020-11-14	Github

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Mobile Manipulation

Title	Venue	Date	Code
MobileManiBench: Simplifying Model Verification for Mobile Manipulation	arXiv	2026-02-05	Project
RoboBenchMart: Benchmarking Robots in Retail Environment	arXiv	2025-11-13	Github
RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots	ICLR 2026	2026-03-04	-
ReGen: Generative Robot Simulation via Inverse Design	ICLR 2025	2025-11-06	Project
Mind and Motion Aligned: A Joint Evaluation IsaacSim Benchmark for Task Planning and Low-Level Policies in Mobile Manipulation	arXiv	2023-08-21	-
CleanUpBench: Embodied Sweeping and Grasping Benchmark	arXiv	2023-08-07	-
HomeRobot: Open-Vocabulary Mobile Manipulation	CoRL 2023	2023-06-20	Github
BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation	CoRL 2022	2024-03-14	Project
ManipulaTHOR: A Framework for Visual Object Manipulation	CVPR 2021	2021-04-22	Github

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Quadrupedal Manipulation

Title	Venue	Date	Code
ODYSSEY: Open-World Quadrupeds Exploration and Manipulation for Long-Horizon Tasks	AAAI 2026	2025-08-11	Project

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Humanoid Manipulation

Title	Venue	Date	Code
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning	arXiv	2026-06-16	Github
OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation	arXiv	2026-06-07	Github
SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation	arXiv	2026-06-06	Github
GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors	arXiv	2026-06-03	Github
HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning	arXiv	2026-05-26	Project
SR-Platform: An Agentic Pipeline for Natural Language-Driven Robot Simulation Environment Synthesis	arXiv	2026-05-14	Project
Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot	arXiv	2026-01-05	Github
HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning	NeurIPS 2025	2025-07-01	Github
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark	CoRL 2024	2024-07-10	Github
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation	RSS 2024	2024-03-15	Github

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Cross-Embodiment Simulators and Benchmarks

Title	Venue	Date	Code
MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation	arXiv	2026-02-11	Github
GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning	RSS 2026	2026-04-28	Github
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning	arXiv	2025-11-06	Github
AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation	CoRL 2025	2025-08-11	Github
VIKI-R: Coordinating Embodied Multi-Agent Cooperation via Reinforcement Learning	NeurIPS 2025	2025-06-10	Github
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
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI	RSS 2025	2024-10-01	Github
GENESIS: A generative world for general-purpose robotics & embodied AI learning	-	2024-12	Github
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots	RSS 2024	2024-06-04	Github
LocoMuJoCo: A Comprehensive Imitation Learning Benchmark for Locomotion	NeurIPSW 2023	2023-11-04	Github
RoboHive: A Unified Framework for Robot Learning	NeurIPS D&B 2023	2023-10-10	Github
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
robosuite: A Modular Simulation Framework and Benchmark for Robot Learning	arXiv	2020-09-25	Github

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Other Simulators and Benchmarks

Title	Venue	Date	Code
SurgVLA-Bench: Towards Evaluating Vision-Language-Action Models for Laparoscopic Surgical Robotics	arXiv	2026-06-28	Github
OrchardBench: A Physically-Grounded, GPU-Parallel Apple-Orchard Simulation Benchmark for Agricultural Robotics	arXiv	2026-07-07	Github
ManiTwin: Scaling Data-Generation-Ready Digital Object Dataset to 100K	arXiv	2026-03-17	Project
BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies	arXiv	2026-03-17	Github
KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning	RSS 2026	2026-04-28	Github
TabletopGen: Instance-Level Interactive 3D Tabletop Scene Generation from Text or Single Image	arXiv	2025-12-01	Github
MarketGen: A Scalable Simulation Platform with Auto-Generated Embodied Supermarket Environments	CVPR 2026	2025-11-26	Project
MagBotSim: Physics-Based Simulation and Reinforcement Learning Environments for Magnetic Robotics	arXiv	2025-11-20	Project
Space Robotics Bench: Robot Learning Beyond Earth	arXiv	2025-09-27	Github
SimWorld: An Open-ended Realistic Simulator for Autonomous Agents in Physical and Social Worlds	NeurIPS 2025	2025-11-30	Github
SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing	NeurIPS D&B 2025	2025-10-23	Dataset
FLAME: A Federated Learning Benchmark for Robotic Manipulation	IROS 2025	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

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Trajectory Datasets

Title	Venue	Date	Code
HABIT: Human-Aware Behavior and Interaction Training Dataset for Robot Manipulation	arXiv	2026-06-30	Github
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation	arXiv	2026-06-30	-
HapTile: A Haptic-Informed Vision-Tactile-Language-Action Dataset for Contact-Rich Imitation Learning	arXiv	2026-06-03	Project
Scalable Behavior Cloning with Open Data, Training, and Evaluation	arXiv	2026-06-25	Github
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics	arXiv	2026-04-22	Github
VTouch++: A Multimodal Dataset with Vision-Based Tactile Enhancement for Bimanual Manipulation	arXiv	2026-04-22	-
Deform360: A Massive Multi-view Visuotactile Dataset for Deformable World Models	ECCV 2026	2026-07-06	Github
Trustworthy Evaluation of Robotic Manipulation: A New Benchmark and AutoEval Methods	arXiv	2026-01-26	Project
RoboMIND 2.0: A Multimodal, Bimanual Mobile Manipulation Dataset for Generalizable Embodied Intelligence	arXiv	2025-12-31	-
OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning	arXiv	2025-12-15	Github
RoboCOIN: An Open-Sourced Bimanual Robotic Data COllection for INtegrated Manipulation	-	2025-11	Github
A Humanoid Visual-Tactile-Action Dataset for Contact-Rich Manipulation	arXiv	2025-10-28	-
Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation	ICRA 2026	2025-10-09	Github
FastUMI-100K: Advancing Data-driven Robotic Manipulation with a Large-scale UMI-style Dataset	arXiv	2025-10-09	Github
AIRoA MoMa Dataset: A Large-Scale Hierarchical Dataset for Mobile Manipulation	arXiv	2025-09-29	Dataset
RoboFAC: A Comprehensive Framework for Robotic Failure Analysis and Correction	arXiv	2025-05-18	-
AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems	IROS 2025	2025-03-09	Github
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation	RSS 2025	2024-12-18	Github
ARIO: All Robots in One: A New Standard and Unified Dataset for Versatile, General-Purpose Embodied Agents	arXiv	2024-08-20	Dataset
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset	RSS 2024	2024-03-19	Github
Open X-Embodiment: Robotic Learning Datasets and RT-X Models	ICRA 2024	2023-10-13	Github
RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking	ICRA 2024	2024-09-05	Github
BridgeData V2: A Dataset for Robot Learning at Scale	CoRL 2023	2023-08-24	Github
RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot	RSSW 2023	2023-07-02	Project
RT-1: Robotics Transformer for Real-World Control at Scale	RSS 2023	2022-12-13	Dataset
BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning	CoRL 2021	2022-02-04	Dataset
Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasets	CoRL 2018	2021-09-27	Github
Multiple Interactions Made Easy (MIME): Large Scale Demonstrations Data for Imitation	CoRL 2018	2018-10-16	-

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Embodied QA and Affordance Datasets

Title	Venue	Date	Code
WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation	arXiv	2026-06-24	Github
RoboProcessBench: Benchmarking Process-Aware Understanding in Vision-Language Robotic Manipulation	arXiv	2026-06-11	Project
SPARC: Reliable Spatial Annotations from Robot Demonstrations at Scale	arXiv	2026-06-11	Project
Affordance2Action: Task-Conditioned Scene-level Affordance Grounding for Real-Time Manipulation	arXiv	2026-06-02	Github
Embodied3DBench: Benchmarking Low-Level Embodied Spatial Intelligence of Vision Language Models	arXiv	2026-05-27	-
EPIC-Bench: A Perception-Centric Benchmark for Fine-Grained Embodied Visual Grounding in Vision-Language Models	arXiv	2026-05-16	Github
VideoAfford: Grounding 3D Affordance from Human-Object-Interaction Videos via Multimodal Large Language Model	arXiv	2026-02-10	-
Seeing Across Views: Benchmarking Spatial Reasoning of Vision-Language Models in Robotic Scenes	arXiv	2025-10-22	Github
PhysToolBench: Benchmarking Physical Tool Understanding for MLLMs	arXiv	2025-10-10	Github
Point-It-Out: Benchmarking Embodied Reasoning for Vision Language Models in Multi-Stage Visual Grounding	arXiv	2025-09-30	Github
How Good are Foundation Models in Step-by-Step Embodied Reasoning?	arXiv	2025-09-18	Github
RoboRefer: Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics	NeurIPS 2025	2025-06-28	Github
OmniEAR: Benchmarking Agent Reasoning in Embodied Tasks	ICLRW 2026	2024-08-07	Github
PAC Bench: Do Foundation Models Understand Prerequisites for Executing Manipulation Policies?	NeurIPS 2025	2024-06-30	Project
Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets	NeurIPS 2025	2024-05-21	Huggingface
PointArena: Probing Multimodal Grounding Through Language-Guided Pointing	arXiv	2024-05-15	Github
ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation	CoRL 2024	2024-05-14	Project
RoboAfford++: A Generative AI-Enhanced Dataset for Multimodal Affordance Learning in Robotic Manipulation and Navigation	IROSW 2025	2025-11-16	Github
ManipVQA: Injecting Robotic Affordance and Physically Grounded Information into Multi-Modal Large Language Models	IROS 2024	2024-03-17	Github
OpenEQA: Embodied Question Answering in the Era of Foundation Models	CVPR 2024	2024	Github

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Human and Robotic Video Benchmarks and Datasets

Title	Venue	Date	Code
Benchmarks
EgoSafetyBench: A Diagnostic Egocentric Video Benchmark for Evaluating Embodied VLMs as Runtime Safety Guards	arXiv	2026-06-30	Github
WorldOlympiad: Can Your World Model Survive a Triathlon?	arXiv	2026-06-09	Github
Dream.exe: Can Video Generation Models Dream Executable Robot Manipulation?	arXiv	2026-06-03	Github
MiraBench: Evaluating Action-Conditioned Reliability in Robotic World Models	arXiv	2026-05-28	-
RoboWM-Bench: A Benchmark for Evaluating World Models in Robotic Manipulation	arXiv	2026-04-21	Github
Wow, wo, val! A Comprehensive Embodied World Model Evaluation Turing Test	arXiv	2026-01-07	-
Datasets
EgoTactile: Learning Grasp Pressure for Everyday Objects from Egocentric Video	arXiv	2026-06-08	Github
Minerva-Ego: Spatiotemporal Hints for Egocentric Video Understanding	arXiv	2026-05-14	Github
EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks	arXiv	2026-04-26	Dataset
EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World	arXiv	2026-04-08	Github
Hoi! -- A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation	arXiv	2025-12-04	Github
RobotSeg: A Model and Dataset for Segmenting Robots in Image and Video	arXiv	2025-11-28	Github
OmniWorld: A Multi-Domain and Multi-Modal Dataset for 4D World Modeling	ICLR 2026	2025-09-15	Github
OpenEgo: A Large-Scale Multimodal Egocentric Dataset for Dexterous Manipulation	arXiv	2025-09-05	Github
EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video	ICLR 2026	2025-05-16	Github
Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectives	CVPR 2024	2023-11-30	Project
Ego4D: Around the World in 3,000 Hours of Egocentric Video	CVPR 2022	2021-10-13	Project
The "something something" Video Database for Learning and Evaluating Visual Common Sense	CVPR 2017	2021-10-13	Project

🛠️ Awesome Techniques

Tutorial

Title	Venue	Date	Code
Robot Learning: A Tutorial	arXiv	2025-10-14	Github

Github Repo

Title	Venue	Date	Code
Awesome-Dual-System-VLA: OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation	-	2025-05-06	Github
awesome-embodied-vla-va-vln	-	2025-01-16	Github
Awesome-Implicit-NeRF-Robotics: Neural Fields in Robotics: A Survey	-	2024-10-26	Github
awesome-humanoid-robot-learning	-	2024-10-01	Github
Awesome-Robotics-3D	-	2024-08-13	Github
Awesome-Video-Robotic-Papers	-	2024-06-18	Github
awesome-humanoid-learning	-	2024-01-16	Github
Awesome-Robotics-Foundation-Models: Foundation Models in Robotics: Applications, Challenges, and the Future	-	2023-12-13	Github
Awesome-Generalist-Robots-via-Foundation-Models: Neural Fields in Robotics: A Survey	-	2023-06-20	Github
Awesome-LLM-Robotics	-	2022-08-12	Github

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✨ Citation

If you find this repository useful, please consider citing:

@article{bai2025towards,
  title={Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey},
  author={Bai, Shuanghao and Song, Wenxuan and Chen, Jiayi and Ji, Yuheng and Zhong, Zhide and Yang, Jin and Zhao, Han and Zhou, Wanqi and Zhao, Wei and Li, Zhe and Ding, Pengxiang and Chi, Cheng and Li, Haoang and Xu, Chang and Zheng, Xiaolong and Wang, Donglin and Zhang, Shanghang and Chen, Badong},
  journal={arXiv preprint arXiv:2510.10903},
  year={2025}
}

@article{bai2025embodied,
  title={Embodied Robot Manipulation in the Era of Foundation Models: Planning and Learning Perspectives},
  author={Bai, Shuanghao and Song, Wenxuan and Chen, Jiayi and Ji, Yuheng and Zhong, Zhide and Yang, Jin and Zhao, Han and Zhou, Wanqi and Li, Zhe and Ding, Pengxiang and others},
  journal={arXiv preprint arXiv:2512.22983},
  year={2025}
}