---
license: apache-2.0
---

#### [ICML 2026] TapSampling: Inference-Time Sampling with a Task-Progress-Understanding Verifier for Robotic Manipulation

[[Project Page]](https://aipixel.github.io/TapSampling/) [[Code]](https://github.com/aipixel/TapSampling)

```bibtex
@inproceedings{zhao2026tapsampling,
  title={{T}ap{S}ampling: Inference-Time Sampling with a Task-Progress-Understanding Verifier for Robotic Manipulation},
  author={Sizhe Zhao and Shengping Zhang and Shuo Yang and Weiyu Zhao and Shuigen Wang and Xiangyang Ji},
  booktitle={Forty-third International Conference on Machine Learning},
  year={2026}
}
```