# UniManip: An Open-World Robotic Manipulation Framework Based on Agentic Operational Graphs

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ia6mpxd50opxyhekezzw1yrly
- Original: https://arxiv.org/abs/2602.13086

## Summary

UniManip proposes a unified framework centered on the Agentic Operational Graph (AOG) for task orchestration, state tracking, execution verification, and closed-loop failure recovery in open-world robotic manipulation. The method grounds high-level semantic intent into executable primitives through a physically grounded scene graph, and combines a safety-aware local planner to generate collision-free trajectories. It achieves state-of-the-art performance on LIBERO-Pro, and in real-world experiments its task success rate is 22.5% and 25.0% higher than leading VLA models and hierarchical baselines, respectively.