{"ID":2834970,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.01022","arxiv_id":"2512.01022","title":"CycleManip: Enabling Cyclic Task Manipulation via Effective Historical Perception and Understanding","abstract":"In this paper, we explore an important yet underexplored task in robot manipulation: cycle-based manipulation, where robots need to perform cyclic or repetitive actions with an expected terminal time. These tasks are crucial in daily life, such as shaking a bottle or knocking a nail. However, few prior works have explored this task, leading to two main challenges: 1) the imitation methods often fail to complete these tasks within the expected terminal time due to the ineffective utilization of history; 2) the absence of a benchmark with sufficient data and automatic evaluation tools hinders development of effective solutions in this area. To address these challenges, we first propose the CycleManip framework to achieve cycle-based task manipulation in an end-to-end imitation manner without requiring any extra models, hierarchical structure or significant computational overhead. The core insight is to enhance effective history perception by a cost-aware sampling strategy and to improve historical understanding by multi-task learning. Second, we introduce a cycle-based task manipulation benchmark, which provides diverse cycle-based tasks, and an automatic evaluation method. Extensive experiments conducted in both simulation and real-world settings demonstrate that our method achieves high success rates in cycle-based task manipulation. The results further show strong adaptability performance in general manipulation, and the plug-and-play ability on imitation policies such as Vision-Language-Action (VLA) models. Moreover, the results show that our approach can be applied across diverse robotic platforms, including bi-arm grippers, dexterous hands, and humanoid robots.","short_abstract":"In this paper, we explore an important yet underexplored task in robot manipulation: cycle-based manipulation, where robots need to perform cyclic or repetitive actions with an expected terminal time. These tasks are crucial in daily life, such as shaking a bottle or knocking a nail. However, few prior works have explo...","url_abs":"https://arxiv.org/abs/2512.01022","url_pdf":"https://arxiv.org/pdf/2512.01022v2","authors":"[\"Yi-Lin Wei\",\"Haoran Liao\",\"Yuhao Lin\",\"Pengyue Wang\",\"Zhizhao Liang\",\"Guiliang Liu\",\"Wei-Shi Zheng\"]","published":"2025-11-30T18:38:40Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}