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
    PDF Video Website
  2. 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
  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, 2025
    PDF Website
  4. 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
    Under review, arXiv preprint arXiv:2503.22370 & ICRA Workshop on Handy Moves: Dexterity in Multi-Fingered Hands (Spotlight), 2025
    PDF workshop Video
  5. 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
  6. wara.gif
    The First WARA Robotics Mobile Manipulation Challenge - Lessons Learned
    David Cáceres Domínguez et al.
    European Conference on Mobile Robots, 2025
    PDF Video

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