@article{ikemura2026latent,title={Latent Diffeomorphic Co-Design of End-Effectors for Deformable and Fragile Object Manipulation},author={Ikemura*, Kei and Dong*, Yifei and Pokorny, Florian T.},workshop_name={RSS 2025 Workshop on Robot Hardware-Aware Intelligence (Spotlight)},year={2026},journal={Proceedings of Robotics: Science and Systems (RSS)},}
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun , Lujie Yang , Manuel Baum , Kei Ikemura , Shuran Song , and 2 more authors
@article{dong2026robustness,title={Robustness of Robotic Manipulation: Foundations and Frontiers},author={Dong, Yifei and Sun, Zhanyi and Yang, Lujie and Baum, Manuel and Ikemura, Kei and Song, Shuran and Pokorny, Florian T. and Cheng, Xianyi},year={2026},journal={Preprint},}
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
@article{dong2025robustness,title={Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance},author={Dong*, Yifei and Zhang*, Yan and Calinon, Sylvain and Pokorny, Florian T.},journal={IEEE International Conference on Robotics and Automation (ICRA)},year={2026},}
Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Yan Zhang , Yiming Li , Yifei Dong, Florian T. Pokorny , and Sylvain Calinon
@article{zhang2026physics,title={Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning},author={Zhang, Yan and Li, Yiming and Dong, Yifei and Pokorny, Florian T. and Calinon, Sylvain},journal={Preprint},year={2026},}
MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping
Haofei Lu , Hongjia Liu , Yifei Dong, Florian T. Pokorny , Jens Lundell , and Danica Kragic
@article{lu2026modex,title={MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping},author={Lu, Haofei and Liu, Hongjia and Dong, Yifei and Pokorny, Florian T. and Lundell, Jens and Kragic, Danica},journal={Preprint},year={2026},}
Where to Attend: A Principled Vision-Centric Position Encoding with Parabolas
Christoffer Koo Øhrstrøm , Rafael I. Cabral Muchacho , Yifei Dong, Filippos Moumtzidellis , Ronja Güldenring , Florian T. Pokorny , and 1 more author
@article{ohrstrom2026where,title={Where to Attend: A Principled Vision-Centric Position Encoding with Parabolas},author={Øhrstrøm, Christoffer Koo and Cabral Muchacho, Rafael I. and Dong, Yifei and Moumtzidellis, Filippos and Güldenring, Ronja and Pokorny, Florian T. and Nalpantidis, Lazaros},year={2026},journal={Tech report},}
2025
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 , and 2 more authors
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
@article{dong2025cagecoopt,title={CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization},author={Dong*, Yifei and Han*, Shaohang and Cheng, Xianyi and Friedl, Werner and Muchacho, Rafael I. Cabral and Roa, Máximo A. and Tumova, Jana and Pokorny, Florian T.},journal={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},year={2025},}
Sim-to-Real Gentle Manipulation of Deformable and Fragile Objects with Stress-Guided Reinforcement Learning
Kei Ikemura* , Yifei Dong*, David Blanco-Mulero , Alberta Longhini , Li Chen , and Florian T. Pokorny
@article{ikemura2025sim,title={Sim-to-Real Gentle Manipulation of Deformable and Fragile Objects with Stress-Guided Reinforcement Learning},author={Ikemura*, Kei and Dong*, Yifei and Blanco-Mulero, David and Longhini, Alberta and Chen, Li and Pokorny, Florian T.},journal={Preprint},year={2025},}
Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
Haofei Lu , Yifei Dong, Zehang Weng , Florian T. Pokorny , Jens Lundell , and Danica Kragic
IEEE Robotics and Automation Letters (RA-L), 2025
ICRA 2025 Workshop on Dexterity in Multi-Fingered Hands (Spotlight)
@article{lu2025grasping,title={Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation},author={Lu, Haofei and Dong, Yifei and Weng, Zehang and Pokorny, Florian T. and Lundell, Jens and Kragic, Danica},journal={IEEE Robotics and Automation Letters (RA-L)},workshop_name={ICRA 2025 Workshop on Dexterity in Multi-Fingered Hands (Spotlight)},year={2025},}
T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects
David Blanco-Mulero , Yifei Dong, Julia Borras , Florian T. Pokorny , and Carme Torras
Tech report, 2025
IROS 2025 Workshop on Robotic Manipulation of Deformable Objects
@article{mulero2025tdom,title={T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects},author={Blanco-Mulero, David and Dong, Yifei and Borras, Julia and Pokorny, Florian T. and Torras, Carme},journal={Tech report},workshop_name={IROS 2025 Workshop on Robotic Manipulation of Deformable Objects},year={2025},}
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)
@article{dong2024caging,title={Characterizing Manipulation Robustness through Energy Margin and Caging Analysis},author={Dong, Yifei and Cheng, Xianyi and Pokorny, Florian T.},journal={IEEE Robotics and Automation Letters (RA-L)},workshop_name={ICRA 2024 Workshop on Multi-Object Grasping (Oral)},year={2024},}
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
@article{dong2023quasi,title={Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects},author={Dong, Yifei and Pokorny, Florian T.},journal={IEEE International Conference on Robotics and Automation (ICRA)},year={2024},workshop_name={ICRA 2023 Workshop on Representing and Manipulating Deformable Objects},}
