Robustness of Robotic Manipulation: Foundations and Frontiers
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the absence of a unified and systematic understanding: different subfields frame robustness in distinct ways, often leaving the concept ambiguous and limiting deeper analysis as well as communication across research areas. This paper presents a systematic study of manipulation robustness. We begin with a formal definition, characterizing robustness as the degree to which a manipulation system can achieve its goal in the presence of uncertainty and variation. Building on this definition, we introduce general formulations...
| Authors | Yifei Dong, Zhanyi Sun, Lujie Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 30 June 2026 |
| Last updated at source | 30 June 2026 |
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