AstroBench: Benchmarking Free-Floating Capture and Space Robotic Manipulation - 2026-10-22 - Research Publication - AstroBench benchmarks fixed-base robot manipulation of free-floating objects and space-workcell mechanisms. Nine task definitions and 29 task–target combinations cover capture, sample storage, caps and captive screws. The… - source: arxiv.org
Self-Distilling Future Video Representations for World Action Models - 2026-10-21 - Research Publication - FRED improves world action models by self-distilling future video representations and conditioning them on observation history. The KAIST and RLWRLD team evaluates robot manipulation on Franka Research 3 and OpenArm… - source: arxiv.org
Blind Precise Assembly: Proprioceptive Sim-to-Real Peg-in-Hole for Diverse Parts - 2026-10-16 - Research Publication - This work trains contact-rich assembly policies using only proprioceptive joint histories. A policy trained entirely in simulation transfers to physical peg insertion without cameras, force sensing or real-world fine-tuning. - source: arxiv.org
FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation - 2026-10-14 - Research Publication - FOMI is a scissor-shaped handheld interface that transmits contact forces directly through its mechanism. The system supports robot-free demonstration collection and teleoperation without force sensors or active… - source: arxiv.org
ForceWAM: Decoupling Future and Response Learning from Demo and Play Data for Contact-Rich Manipulation - 2026-10-13 - Research Publication - ForceWAM separates future prediction from force-aware response learning using task demonstrations and play data. Physical experiments on Flexiv Rizon 4S test contact-rich sliding, box flipping and Hanoi-ring manipulation. - source: arxiv.org
USDCraft: Geometrically Grounded Programmatic Modeling of Articulated 3D Assets for Simulation - 2026-10-08 - Research Publication - USDCraft uses a pretrained LLM to reconstruct articulated USD assets from partial meshes and images, with geometric rechecking and explicit physical properties for Isaac Sim. Real-to-sim-to-real tests use a UR7e with a… - source: arxiv.org
Fast reprogramming and adaptive reproduction of contact-rich assembly - 2026-03-18 - Research Publication - Frontiers paper on fast robot reprogramming and adaptive contact-rich assembly; the experimental setup names both Robotiq 2F-85 and OnRobot 3FG25 grippers. - source: frontiersin.org
ROS End-Effector: A Hardware-Agnostic Software and Control Framework for Robotic End-Effectors - 2023-07-22 - Research Publication - Open-access framework paper for hardware-agnostic end-effector control; the source documents support and real/simulated validation across diverse grippers and robotic hands. - source: link.springer.com