# Research Challenges and Progress in Robotic Grasping and Manipulation Competitions

arXiv: https://arxiv.org/abs/2108.01483 · HTML: https://mlsanity.com/paper/2108.01483/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 8 of its 52 references that are in the map.
- First posted on arXiv 3 Aug 2021.

## Builds on (most cited first, 8 of 8)

- [YouTube-VOS: Sequence-to-Sequence Video Object Segmentation](https://mlsanity.com/paper/1809.00461/) (2018)
- [OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation](https://mlsanity.com/paper/2104.11446/) (2021)
- [YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimation](https://mlsanity.com/paper/2004.11657/) (2020)
- [The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research](https://mlsanity.com/paper/1609.05258/) (2016)
- [Robot Gaining Accurate Pouring Skills through Self-Supervised Learning and Generalization](https://mlsanity.com/paper/2011.10150/) (2020)
- [Benchmarking In-Hand Manipulation](https://mlsanity.com/paper/2001.03070/) (2020)
- [GRASPA 1.0: GRASPA is a Robot Arm graSping Performance benchmArk](https://mlsanity.com/paper/2002.05017/) (2020)
- [Robotic Materials](https://mlsanity.com/paper/1903.10480/) (2019)

## Built on by (most cited first, 9 of 9)

- [RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitation](https://mlsanity.com/paper/2308.15975/) (2023)
- [Train Offline, Test Online: A Real Robot Learning Benchmark](https://mlsanity.com/paper/2306.00942/) (2023)
- [GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks](https://mlsanity.com/paper/2404.06645/) (2024)
- [Multi-Object Grasping -- Estimating the Number of Objects in a Robotic Grasp](https://mlsanity.com/paper/2112.01270/) (2021)
- [One-shot Learning for Autonomous Aerial Manipulation](https://mlsanity.com/paper/2206.01411/) (2022)
- [Language-driven Grasp Detection with Mask-guided Attention](https://mlsanity.com/paper/2407.19877/) (2024)
- [PhAIL: A Real-Robot VLA Benchmark and Distributional Methodology](https://mlsanity.com/paper/2605.29710/) (2026)
- [Robot Grasping and Manipulation: A Prospective](https://mlsanity.com/paper/2303.07807/) (2023)
- [Counting Objects in a Robotic Hand](https://mlsanity.com/paper/2404.06631/) (2024)

## Abstract (arXiv)

This paper discusses recent research progress in robotic grasping and manipulation in the light of the latest Robotic Grasping and Manipulation Competitions (RGMCs). We first provide an overview of past benchmarks and competitions related to the robotics manipulation field. Then, we discuss the methodology behind designing the manipulation tasks in RGMCs. We provide a detailed analysis of key challenges for each task and identify the most difficult aspects based on the competing teams' performance in recent years. We believe that such an analysis is insightful to determine the future research directions for the robotic manipulation domain.