2025 Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance Yifei Dong*, Yan Zhang*, Sylvain Calinon, and Florian T. Pokorny Under review, arXiv preprint arXiv:2506.03362, 2025 PDF Video CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization Yifei Dong*, Shaohang Han*, Xianyi Cheng, Werner Friedl, Rafael I. Cabral Muchacho, Máximo A. Roa, Jana Tumova, and Florian T. Pokorny Under review, arXiv preprint arXiv:2409.11113, 2025 PDF Video Website T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects David Blanco-Mulero, Yifei Dong, Julia Borras, Florian T. Pokorny, and Carme Torras Under review, arXiv preprint arXiv:2412.20998, 2025 PDF Website Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation Haofei Lu, Yifei Dong, Zehang Weng, Jens Lundell, Florian T. Pokorny, and Danica Kragic Under review, arXiv preprint arXiv:2503.22370 & ICRA Workshop on Handy Moves: Dexterity in Multi-Fingered Hands (Spotlight), 2025 PDF Video Efficient End-effector Co-Design by Demonstration for Deformable Fragile Object Manipulation Kei Ikemura, Yifei Dong, David Blanco-Mulero, Alberta Longhini, Li Chen , and Florian T. Pokorny RSS Workshop on Robot Hardware-Aware Intelligence (Spotlight), 2025 The First WARA Robotics Mobile Manipulation Challenge - Lessons Learned David Cáceres Domínguez et al. Under review, arXiv preprint arXiv:2505.06919, 2025 PDF Video 2024 Characterizing Manipulation Robustness through Energy Margin and Caging Analysis Yifei Dong, Xianyi Cheng, and Florian T. Pokorny Robotics and Automation Letters (RA-L), 2024 PDF workshop Video Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects Yifei Dong, and Florian T. Pokorny International Conference on Robotics and Automation (ICRA), 2024 PDF workshop Video Code Website
Efficient End-effector Co-Design by Demonstration for Deformable Fragile Object ManipulationRSS Workshop on Robot Hardware-Aware Intelligence (Spotlight), 2025
