UniManip: Open-World Robotic Manipulation via Agentic Operational Graphs

Abstract

Achieving general-purpose robotic manipulation requires robots to bridge high-level semantic intent with low-level physical interaction in unstructured environments. However, zero-shot generalization remains challenging: end-to-end Vision-Language-Action (VLA) models often lack the precision required for long-horizon tasks, while traditional hierarchical planners suffer from semantic rigidity under open-world variations. We present UniManip, a unified framework centered on an Agentic Operational Graph (AOG), an explicit cognitive and operational backbone for task orchestration, state tracking, execution verification, and closed-loop failure recovery. High-level semantic intents are grounded into actionable primitives via a physically grounded scene graph that provides geometric affordances, contact-aware interaction parameters, and collision-free trajectory synthesis. By coupling a high-level Agentic Layer for task orchestration with a low-level Scene Layer for dynamic state representation, UniManip continuously aligns abstract planning with geometric constraints, enabling robust execution. Unlike static pipelines, UniManip operates as a dynamic agentic loop: it instantiates object-centric scene graphs from unstructured perception, parameterizes these representations into collision-free trajectories via a safety-aware local planner, and exploits structured memory to autonomously diagnose and recover from execution failures. UniManip achieves state-of-the-art performance on LIBERO-Pro, while extensive real-world experiments demonstrate robust zero-shot generalization across diverse tasks, embodiments, and dexterous hands, outperforming leading VLA models and hierarchical baselines by 22.5% and 25.0% in task success rate, respectively. Open-source project page: https://henryhcliu.github.io/unimanip.

arXiv comment18 pages, 15 figures, 9 tables, project page: https://henryhcliu.github.io/unimanip