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