2025 CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization Yifei Dong*, Shaohang Han* , Xianyi Cheng , Werner Friedl , and 4 more authors IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025 arXiv PDF Video Website Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation Haofei Lu , Yifei Dong, Zehang Weng , Florian T. Pokorny , and 2 more authors IEEE Robotics and Automation Letters (RA-L), 2025 ICRA 2025 Workshop on Dexterity in Multi-Fingered Hands (Spotlight) arXiv workshop Video Website Sim-to-Real Gentle Manipulation of Deformable and Fragile Objects with Stress-Guided Reinforcement Learning Kei Ikemura* , Yifei Dong*, David Blanco-Mulero , Alberta Longhini , and 2 more authors Under review, 2025 arXiv PDF Website T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects David Blanco-Mulero , Yifei Dong, Julia Borras , Florian T. Pokorny , and 1 more author Under review, 2025 IROS 2025 Workshop on Robotic Manipulation of Deformable Objects arXiv PDF workshop Website Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance Yifei Dong*, Yan Zhang* , Sylvain Calinon , and Florian T. Pokorny Under review, 2025 arXiv PDF Video Efficient End-effector Co-Design by Demonstration for Deformable Fragile Object Manipulation Kei Ikemura , Yifei Dong, David Blanco-Mulero , Alberta Longhini , and 2 more authors 2025 RSS Workshop on Robot Hardware-Aware Intelligence (Spotlight) Website OpenReview The First WARA Robotics Mobile Manipulation Challenge - Lessons Learned David Cáceres Domínguez , Marco Iannotta , Abhishek Kashyap , Shuo Sun , and 20 more authors European Conference on Mobile Robots, 2025 arXiv PDF Video 2024 Characterizing Manipulation Robustness through Energy Margin and Caging Analysis Yifei Dong, Xianyi Cheng , and Florian T. Pokorny IEEE Robotics and Automation Letters (RA-L), 2024 ICRA 2024 Workshop on Multi-Object Grasping (Oral) PDF workshop Video Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects Yifei Dong, and Florian T. Pokorny IEEE International Conference on Robotics and Automation (ICRA), 2024 ICRA 2023 Workshop on Representing and Manipulating Deformable Objects PDF workshop Video Code Website
Efficient End-effector Co-Design by Demonstration for Deformable Fragile Object Manipulation2025RSS Workshop on Robot Hardware-Aware Intelligence (Spotlight)
