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 |
|---|---|---|---|
| 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 |
| Title | Venue | Date | Code |
|---|---|---|---|
| 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 | arXiv | 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 |
| Title | Venue | Date | Code |
|---|---|---|---|
| AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real World | arXiv | 2025-03-31 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| 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 |
| Title | Venue | Date | Code |
|---|---|---|---|
| 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 | arXiv | 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 |
| Title | Venue | Date | Code |
|---|---|---|---|
| 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 |
| Title | Venue | Date | Code |
|---|---|---|---|
| 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 | arXiv | 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 |
| Title | Venue | Date | Code |
|---|---|---|---|
| RoboBenchMart: Benchmarking Robots in Retail Environment | arXiv | 2025-11-13 |  Github |
| 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 |
| Title | Venue | Date | Code |
|---|---|---|---|
| ODYSSEY: Open-World Quadrupeds Exploration and Manipulation for Long-Horizon Tasks | arXiv | 2025-08-11 | Project |
| Title | Venue | Date | Code |
|---|---|---|---|
| HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning | arXiv | 2025-07-01 |  Github |
| BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark | arXiv | 2024-07-10 |  Github |
| HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation | arXiv | 2024-03-15 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| TabletopGen: Instance-Level Interactive 3D Tabletop Scene Generation from Text or Single Image | arXiv | 2025-12-01 |  Github |
| SimWorld: An Open-ended Realistic Simulator for Autonomous Agents in Physical and Social Worlds | arXiv | 2025-11-30 |  Github |
| MarketGen: A Scalable Simulation Platform with Auto-Generated Embodied Supermarket Environments | arXiv | 2025-11-26 | Project |
| MagBotSim: Physics-Based Simulation and Reinforcement Learning Environments for Magnetic Robotics | arXiv | 2025-11-20 | Project |
| 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 |  Github |
| 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 |
|---|---|---|---|
| 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 | arXiv | 2025-09-15 |  Github |
| OpenEgo: A Large-Scale Multimodal Egocentric Dataset for Dexterous Manipulation | arXiv | 2025-09-05 |  Github |
| Title | Venue | Date | Code |
|---|---|---|---|
| Robot Learning: A Tutorial | arXiv | 2025-10-14 |  Github |
| 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-Implicit-NeRF-Robotics: Neural Fields in Robotics: A Survey | - | 2024-10-26 |  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 |
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}
}
