mlsanityData to 7 Oct 2026

A Survey of Embodied Learning for Object-Centric Robotic Manipulation

arXiv 2408.11537 ↗First posted 21 Aug 2024cs.RO cs.AI cs.CVcited by 34

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Abstract (arXiv)

Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike data-driven machine learning methods, embodied learning focuses on robot learning through physical interaction with the environment and perceptual feedback, making it especially suitable for robotic manipulation. In this paper, we provide a comprehensive survey of the latest advancements in this field and categorize the existing work into three main branches: 1) Embodied perceptual learning, which aims to predict object pose and affordance through various data representations; 2) Embodied policy learning, which focuses on generating optimal robotic decisions using methods such as reinforcement learning and imitation learning; 3) Embodied task-oriented learning, designed to optimize the robot's performance based on the characteristics of different tasks in object grasping and manipulation. In addition, we offer an overview and discussion of public datasets, evaluation metrics, representative applications, current challenges, and potential future research directions. A project associated with this survey has been established at https://github.com/RayYoh/OCRM_survey.

Key facts. Cited by 34 papers in the map (data through 7 Oct 2026). Builds on 209 of its 305 references that are in the map. First posted on arXiv 21 Aug 2024.

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209 of 305 references.

References · 209

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38 more
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 2; 2025: 17; 2026: 15.

34 papers.

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  1. 2025Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Surveycited by 66
  2. 2025EOC-Bench: Can MLLMs Identify, Recall, and Forecast Objects in an Egocentric World?cited by 20
  3. 2025A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AIcited by 16
  4. 2025Human-assisted Robotic Policy Refinement via Action Preference Optimizationcited by 13
  5. 2025MetaSlot: Break Through the Fixed Number of Slots in Object-Centric Learningcited by 11
  6. 2025TOUCH: Text-guided Controllable Generation of Free-Form Hand-Object Interactionscited by 8
  7. 2025Universal Visuo-Tactile Video Understanding for Embodied Interactioncited by 7
  8. 2026From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulationcited by 6
  9. 2026SoMA: A Real-to-Sim Neural Simulator for Robotic Soft-body Manipulationcited by 4
  10. 2026Lifelong Language-Conditioned Robotic Manipulation Learningcited by 4
  11. 2026VLM-Loc: Localization in Point Cloud Maps via Vision-Language Modelscited by 4
  12. 2024Task-oriented Robotic Manipulation with Vision Language Modelscited by 3
22 more
  1. 2025Fuzzy-aware Loss for Source-free Domain Adaptation in Visual Emotion Recognitioncited by 3
  2. 2025Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Surveycited by 3
  3. 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challengescited by 3
  4. 2025Aligning Perception, Reasoning, Modeling and Interaction: A Survey on Physical AIcited by 3
  5. 2026LaSSM: Efficient Semantic-Spatial Query Decoding via Local Aggregation and State Space Models for 3D Instance Segmentationcited by 3
  6. 2025Multimodal Data Storage and Retrieval for Embodied AI: A Surveycited by 2
  7. 2025DINOv3-Diffusion Policy: Self-Supervised Large Visual Model for Visuomotor Diffusion Policy Learningcited by 2
  8. 2026MosaicThinker: On-Device Visual Spatial Reasoning for Embodied AI via Iterative Construction of Space Representationcited by 2
  9. 2024Bringing the RT-1-X Foundation Model to a SCARA robotcited by 1
  10. 2026HAMMER: Harnessing MLLM via Cross-Modal Integration for Intention-Driven 3D Affordance Groundingcited by 1
  11. 2026ProCal: Probability Calibration for Neighborhood-Guided Source-Free Domain Adaptationcited by 1
  12. 2025Oh-A-DINO: Understanding and Enhancing Attribute-Level Information in Self-Supervised Object-Centric Representationscited by 0
  13. 2025Curiosity-Diffuser: Curiosity Guide Diffusion Models for Reliabilitycited by 0
  14. 2025ContextFusion and Bootstrap: An Effective Approach to Improve Slot Attention-Based Object-Centric Learningcited by 0
  15. 2025GVSynergy-Det: Synergistic Gaussian-Voxel Representations for Multi-View 3D Object Detectioncited by 0
  16. 2026Grounding Sim-to-Real Generalization in Robotic Manipulation: An Empirical Study with Vision-Language-Action Modelscited by 0
  17. 2026VLA-InfoEntropy: A Training-Free Vision-Attention Information Entropy Approach for Vision-Language-Action Models Inference Acceleration and Successcited by 0
  18. 2026Evolution-Inspired Sample Competition for Deep Neural Network Optimizationcited by 0
  19. 2026Neuro-Symbolic Manipulation Understanding with Enriched Semantic Event Chainscited by 0
  20. 2026GenCape: Structure-Inductive Generative Modeling for Category-Agnostic Pose Estimationcited by 0
  21. 2026Optimize Surgical Triplet Recognition: A Knowledge-Driven Mixture-of-Experts Solutioncited by 0
  22. 2026Prior-free relative 6D pose estimation of multiple object instancescited by 0

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  1. 2025A Survey: Learning Embodied Intelligence from Physical Simulators and World Models
  2. 2025FLEX: A Framework for Learning Robot-Agnostic Force-based Skills Involving Sustained Contact Object Manipulation
  3. 2025Large Model Empowered Embodied AI: A Survey on Decision-Making and Embodied Learning
  4. 2023Decoupling Skill Learning from Robotic Control for Generalizable Object Manipulation
  5. 2025ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation
  6. 2025EmbodiedCoder: Parameterized Embodied Mobile Manipulation via Modern Coding Model
  7. 2025Survey of Vision-Language-Action Models for Embodied Manipulation
  8. 2025An Atomic Skill Library Construction Method for Data-Efficient Embodied Manipulation