publications

2026

  1. 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
    IEEE International Conference on Robotics and Automation (ICRA), 2026
    arXiv PDF Video
  2. latent-diffeo.gif
    Latent Diffeomorphic Co-Design of End-Effectors for Deformable and Fragile Object Manipulation
    Kei Ikemura* , Yifei Dong*, and Florian T. Pokorny
    Under review, 2026
    RSS 2025 Workshop on Robot Hardware-Aware Intelligence (Spotlight)
    arXiv PDF workshop Video
  3. pape.png
    Where to Attend: A Principled Vision-Centric Position Encoding with Parabolas
    Christoffer Koo Øhrstrøm , Rafael I. Cabral Muchacho , Yifei Dong, Filippos Moumtzidellis , and 3 more authors
    Under review, 2026
    arXiv Website

2025

  1. cagecoopt.gif
    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
  2. SeqGrasp.gif
    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
  3. icra26gentle.gif
    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
  4. tdom.gif
    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

2024

  1. ral24.gif
    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
  2. icra2024.gif
    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