DualManip: Agentic Dynamic Manipulation via Dual-Path Semantic Reasoning and Geometric Adaptation

arXiv:2609.31112 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-29

Project page: https://lichengxi1.github.io/Dualmanip

Terminology

• Adaptation — 38× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 8× in this paper
• Grounding — 7× in this paper · explained in 3 episodes
• Verification — 7× in this paper · explained in 2 episodes
• Dynamic Adaptation — 4× in this paper · explained in 2 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Optical Flow — 3× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Point Clouds — 2× in this paper · explained in 2 episodes
• 6D Object Pose Estimation — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Agentic System — 1× in this paper · explained in 2 episodes
• Agentic Task — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• CVF International Conference on Computer Vision — 1× in this paper
• Decoupling — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• End-to-end Vision-Language-Action — 1× in this paper
• Foundation Models — 1× in this paper · explained in 7 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• Towards Generalizable Robotic Manipulation in Dynamic Environments
• DynamicVLA: A Vision-Language-Action Model for Dynamic Object Manipulation
• DynamicWAM: Dual-Path Motion Conditioning for World-Action Models in Dynamic Manipulation
• DeMaVLA: A Vision-Language-Action Foundation Model for Generalizable Deformable Manipulation
• Sparse Meets Dense: Correspondence Guided Robotic Manipulation with Rigid-Deformable Interactions
• Vi-TacMan: Articulated Object Manipulation via Vision and Touch
• DSWAM: A Dual-System World Action Foundation Model for Fine-Grained Robot Manipulation
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• GeoManip: Geometric Constraints as General Interfaces for Robot Manipulation
• TiPToP: A Modular Open-Vocabulary Robot Manipulation System That Plans
• UniManip: General-Purpose Zero-Shot Robotic Manipulation with Agentic Operational Graph
• ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• $\tau_0$-WM: A Unified Video-Action World Model for Robotic Manipulation
• OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
• ABot-M0.5: Unified Mobility-and-Manipulation World Action Model
• LLaVA-OneVision-2: Towards Next-Generation Perceptual Intelligence
• Executable Analytic Concepts as the Missing Link Between VLM Insight and Precise Manipulation

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