ICRA 2026PastOther
ICRA 2026 Workshop on Contact-Rich Control and Representation
CR2@ICRA2026
- Submission deadline
- May 24, 2026, 11:59 UTCOpenReview-synced 2026-05-24 11:59 UTC (as of 2026-06-23) — extensions on OpenReview are applied automatically; verify on the website.
- Submission portal
- OpenReview
- Notes
- Topics were auto-suggested and may be imprecise — edits welcome.
Accepted papers (32)
Fetched from OpenReview (v2) on 2026-06-10.
Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Aware Contact Representation
Complementarity by Construction: A Lie-Group Approach to Solving Quadratic Programs with Linear Complementarity Constraints
Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations
Components of Contact: An Analysis of Contact-Implicit Control Strategies on Manipulation Primitives
Contact-Aware Probabilistic Reconstruction for Contact-Rich Manipulation
Contact-Rich Collaborative Path Clearing via Physics-Informed Corridor Search
Contact-Staged Stand-up Learning for Humanoids under Shifted Center-of-Mass Conditions
Curriculum-Aware Diffusion Distillation: Representing Contact Phases for Long-Horizon Door Manipulation
Discovery of Dynamic Loco-manipulation Behaviors
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
Don’t Break the Egg: Branch-Rejoining Trajectory Optimization under Contact Timing Uncertainties
Foot-terrain Deformation based Parameters Identification of MuJoCo for Simulation of Bipedal Locomotion on Deformable Terrain
FORTE: Force Optimization via Riemannian Trajectory Estimation for Zero-Shot Contact-Rich Manipulation
GPU-Accelerated Hydroelastic Contact via Signed Distance Fields
Hierarchical Scene Graphs and Contact-Aware Behavior Trees for Learning and Executing Bimanual Manipulation
IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
ImplicitRDP: An End-to-End Visual-Force Diffusion Policy with Structural Slow-Fast Learning
Learning Legged MPC with Smooth Neural Surrogates
Learning Whole-Body Quadrupedal Pushing Across Geometry and Physics Variation
Leveraging Deformations in Soft Objects and Soft Robots for Dexterity
Mind the Control Gap: Robot Learning from Mismatched Data
Novel Algorithms for Smoothly Differentiable and Efficiently Vectorizable Contact Manifold Construction
On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control
Plasticity is Friction: Towards Controlling Deformables with Contact-Implicit MPC
PolyUMI: Visual + Auditory + Tactile Manipulation Platform for Imitation Learning
Predictive Safety Filters for Contact Rich Quadruped Locomotion
Safe Contact-Rich Control under Smoothed Implicit Contact Dynamics
Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning
Singulating an item from a pallet layer: Dual-arm manipulation with minimalistic end effectors by means of sampling-based MPC
STRIDE: Structured Lagrangian and Stochastic Residual Dynamics via Flow Matching
Tune to Learn: How Controller Gains Shape Robot Policy Learning
Uncertainty-Aware Contact-Implicit MPC via GPU-Parallelized ADMM