Robot Manipulation

Benchmarks archive 2025-07-28

5 leaderboard tables shown for this task, 5 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

12 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

3 subtasks in the archive's task tree.

Most implemented papers archive 2025-07-28

30 shown of 154 papers with code (430 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• OpenVLA: An Open-Source Vision-Language-Action Model
  13 Jun 2024 3 repositories listed Syntology ran 2 of 10 samples · 8 unverified
  Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from…
• Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation
  20 Dec 2023 3 repositories listed Syntology ran 0 of 1 samples · 1 unverified
  In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation can significantly benefit from large-scale video generative pre-training.
• Magma: A Foundation Model for Multimodal AI Agents
  18 Feb 2025 2 repositories listed Syntology ran 2 of 16 samples · 14 unverified
  We present Magma, a foundation model that serves multimodal AI agentic tasks in both the digital and physical worlds.
• SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation
  18 Feb 2025 2 repositories listed
  Spatial intelligence is a critical component of embodied AI, promoting robots to understand and interact with their environments.
• Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation
  30 Jun 2023 2 repositories listed
  3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning.
• LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
  5 Jun 2023 2 repositories listed Syntology ran 1 of 6 samples · 5 unverified
  Specifically, LIBERO highlights five key research topics in LLDM: 1) how to efficiently transfer declarative knowledge, procedural knowledge, or the mixture of both; 2) how to design effective policy architectures and…
• VIMA: General Robot Manipulation with Multimodal Prompts
  6 Oct 2022 2 repositories listed Syntology ran 0 of 8 samples · 8 unverified
  We show that a wide spectrum of robot manipulation tasks can be expressed with multimodal prompts, interleaving textual and visual tokens.
• Instruction-driven history-aware policies for robotic manipulations
  11 Sep 2022 2 repositories listed Syntology ran 0 of 11 samples · 11 unverified
  In human environments, robots are expected to accomplish a variety of manipulation tasks given simple natural language instructions.
• Reward Uncertainty for Exploration in Preference-based Reinforcement Learning
  24 May 2022 2 repositories listed Syntology ran 3 of 3 samples · 0 unverified · 2 pointer-only (licence)
  Our intuition is that disagreement in learned reward model reflects uncertainty in tailored human feedback and could be useful for exploration.
• What Matters in Language Conditioned Robotic Imitation Learning over Unstructured Data
  13 Apr 2022 2 repositories listed Syntology ran 0 of 6 samples · 6 unverified
  We have open-sourced our implementation to facilitate future research in learning to perform many complex manipulation skills in a row specified with natural language.
• Mobile Robot Manipulation using Pure Object Detection
  28 Jan 2022 2 repositories listed
  We develop an end-to-end manipulation method based solely on detection and introduce Task-focused Few-shot Object Detection (TFOD) to learn new objects and settings.
• Learning 3D Dynamic Scene Representations for Robot Manipulation
  3 Nov 2020 2 repositories listed
  3D scene representation for robot manipulation should capture three key object properties: permanency -- objects that become occluded over time continue to exist; amodal completeness -- objects have 3D occupancy, even…
• Reinforcement Learning for Robotic Manipulation using Simulated Locomotion Demonstrations
  16 Oct 2019 2 repositories listed
  In order to exploit this idea, we introduce a framework whereby an object locomotion policy is initially obtained using a realistic physics simulator.
• SilhoNet: An RGB Method for 6D Object Pose Estimation
  18 Sep 2018 2 repositories listed
  Autonomous robot manipulation involves estimating the translation and orientation of the object to be manipulated as a 6-degree-of-freedom (6D) pose.
• DeepIM: Deep Iterative Matching for 6D Pose Estimation
  31 Mar 2018 2 repositories listed Syntology ran 0 of 2 samples · 2 unverified
  Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality.
• DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge
  6 Jul 2025 1 repository listed Syntology ran 2 of 3 samples · 1 unverified · 3 pointer-only (licence)
  Recent advances in vision-language-action (VLA) models have shown promise in integrating image generation with action prediction to improve generalization and reasoning in robot manipulation.
• 3DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Model
  6 Jun 2025 1 repository listed
  With the generated 3D object optical flow, we propose a flow-guided rendering mechanism, which renders the predicted final state and leverages GPT-4o to assess whether the predicted flow aligns with the task description.
• RLVR-World: Training World Models with Reinforcement Learning
  20 May 2025 1 repository listed Syntology ran 1 of 13 samples · 12 unverified
  World models predict state transitions in response to actions and are increasingly developed across diverse modalities.
• Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches
  14 May 2025 1 repository listed
  By contrast, in action generation, the dimensionality of the target is comparatively small, and only the image condition is high-dimensional.
• From Seeing to Doing: Bridging Reasoning and Decision for Robotic Manipulation
  13 May 2025 1 repository listed Syntology ran 1 of 3 samples · 2 unverified
  To address these limitations, we propose FSD (From Seeing to Doing), a novel vision-language model that generates intermediate representations through spatial relationship reasoning, providing fine-grained guidance for…
• UniVLA: Learning to Act Anywhere with Task-centric Latent Actions
  9 May 2025 1 repository listed Syntology ran 1 of 5 samples · 4 unverified
  Learned from internet-scale videos, the generalist policy can be deployed to various robots through efficient latent action decoding.
• OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation
  6 May 2025 1 repository listed Syntology ran 0 of 12 samples · 12 unverified
  Dual-system VLA (Vision-Language-Action) architectures have become a hot topic in embodied intelligence research, but there is a lack of sufficient open-source work for further performance analysis and optimization.
• Sim2Real Transfer for Vision-Based Grasp Verification
  5 May 2025 1 repository listed
  In this work, we present a vision-based approach for grasp verification to determine whether the robotic gripper has successfully grasped an object.
• Multimodal Fusion and Vision-Language Models: A Survey for Robot Vision
  3 Apr 2025 1 repository listed
  Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs).
• AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real World
  31 Mar 2025 1 repository listed Syntology ran 0 of 5 samples · 5 unverified
  Scalable and reproducible policy evaluation has been a long-standing challenge in robot learning.
• Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action Policy
  25 Mar 2025 1 repository listed Syntology ran 2 of 3 samples · 1 unverified
  While recent vision-language-action models trained on diverse robot datasets exhibit promising generalization capabilities with limited in-domain data, their reliance on compact action heads to predict discretized or…
• PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos
  23 Mar 2025 1 repository listed Syntology ran 0 of 5 samples · 5 unverified
  Creating a physical digital twin of a real-world object has immense potential in robotics, content creation, and XR.
• Combined Physics and Event Camera Simulator for Slip Detection
  5 Mar 2025 1 repository listed
  This can result in a significant increase in the time required for data collection, a lack of flexibility in scene setups, and a high level of complexity in the repetition of experiments.
• Modeling Fine-Grained Hand-Object Dynamics for Egocentric Video Representation Learning
  2 Mar 2025 1 repository listed Syntology ran 2 of 5 samples · 3 unverified
  However, existing egocentric video representation learning methods mainly focus on aligning video representation with high-level narrations, overlooking the intricate dynamics between hands and objects.
• ChatVLA: Unified Multimodal Understanding and Robot Control with Vision-Language-Action Model
  20 Feb 2025 1 repository listed
  Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world.

Syntology lines on 18 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.