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!
- [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
- 📝 Awesome Papers
- 📊 Awesome Simulators, Benchmarks and Datasets
- 🛠️ Awesome Techniques
Note: Other papers are summarized in the Contents.
| Title | Venue | Date | Code |
|---|---|---|---|
| SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing | arXiv | 2025-10-23 | Dataset |
| Space Robotics Bench: Robot Learning Beyond Earth | arXiv | 2025-09-27 | |
| 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 | |
| FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning | IJRR 2024 | 2024-01-16 |
| Title | Venue | Date | Code |
|---|---|---|---|
| OmniWorld: A Multi-Domain and Multi-Modal Dataset for 4D World Modeling | arXiv | 2024-09-15 | |
| OpenEgo: A Large-Scale Multimodal Egocentric Dataset for Dexterous Manipulation | arXiv | 2024-09-05 |
| Title | Venue | Date | Code |
|---|---|---|---|
| Robot Learning: A Tutorial | arXiv | 2025-10-14 |
| 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 | |
| Awesome-Implicit-NeRF-Robotics: Neural Fields in Robotics: A Survey | - | 2024-10-26 | |
| Awesome-Robotics-3D | - | 2024-08-13 | |
| Awesome-Video-Robotic-Papers | - | 2024-06-18 | |
| awesome-humanoid-learning | - | 2024-01-16 | |
| Awesome-Robotics-Foundation-Models: Foundation Models in Robotics: Applications, Challenges, and the Future | - | 2023-12-13 | |
| Awesome-Generalist-Robots-via-Foundation-Models: Neural Fields in Robotics: A Survey | - | 2023-06-20 | |
| Awesome-LLM-Robotics | - | 2022-08-12 |
If you find this repository useful, please consider citing our paper:
@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}
}