publications

2025

  1. cagecoopt.gif
    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
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
    arXiv PDF Video Website
  2. SeqGrasp.gif
    Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
    Haofei Lu , Yifei Dong, Zehang Weng , Jens Lundell , Florian T. Pokorny , and Danica Kragic
    Robotics and Automation Letters (RA-L) & ICRA Workshop on Handy Moves: Dexterity in Multi-Fingered Hands (Spotlight), 2025
    arXiv PDF workshop Video
  3. tool-selection.gif
    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
  4. rss25.png
    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
    Website OpenReview
  5. wara.gif
    The First WARA Robotics Mobile Manipulation Challenge - Lessons Learned
    David Cáceres Domínguez et al.
    European Conference on Mobile Robots, 2025
    PDF Video
  6. WarriorMath: Enhancing the Mathematical Ability of Large Language Models with a Defect-aware Framework
    Yue Chen , Minghua He , Fangkai Yang , Pu Zhao , Lu Wang , Yu Kang , Yifei Dong, Yuefeng Zhan , Hao Sun , Qingwei Lin , Saravan Rajmohan , and Dongmei Zhang
    Under Review, arXiv preprint arXiv:2508.01245, 2025
    arXiv

2024

  1. ral24.gif
    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
  2. icra2024.gif
    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
  3. tdom.gif
    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, 2024
    PDF Website