2 citations · 2 across the 12 of their papers we have counts for
13 papers
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun, Lujie Yang +5
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the abse…
Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Yan Zhang, Yiming Li, Yifei Dong +2
Planning contact-rich whole-arm manipulation is challenging because interactions that involve extended robot geometry give rise to complex contact dynamics that are difficult to mo…
MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping
Haofei Lu, Hongjia Liu, Yifei Dong +3
This work addresses sequentially grasping multiple objects with a single dexterous hand without releasing those already held. Most dexterous grasping methods commit all of the hand…
Latent Diffeomorphic Co-Design of End-Effectors for Deformable and Fragile Object Manipulation
Kei Ikemura, Yifei Dong, Florian T. Pokorny
Manipulating deformable and fragile objects remains a fundamental challenge in robotics due to complex contact dynamics and strict requirements on object integrity. Existing approa…
Parabolic Position Encoding: Vision-Centric, Principled, Extrapolatable, General
Christoffer Koo Øhrstrøm, Rafael I. Cabral Muchacho, Yifei Dong +4
We propose Parabolic Position Encoding (PaPE), a parabola-based position encoding for vision modalities in attention-based architectures. Given a set of vision tokens-such as from…
Sim-to-Real Gentle Manipulation of Deformable and Fragile Objects with Stress-Guided Reinforcement Learning
Kei Ikemura, Yifei Dong, David Blanco-Mulero +3
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions…
Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance
Yifei Dong, Yan Zhang, Sylvain Calinon +1
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external dist…
The First WARA Robotics Mobile Manipulation Challenge -- Lessons Learned
David Cáceres Domínguez, Marco Iannotta, Abhishek Kashyap +21
The first WARA Robotics Mobile Manipulation Challenge, held in December 2024 at ABB Corporate Research in Västerås, Sweden, addressed the automation of task-intensive and repetitiv…
Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
Haofei Lu, Yifei Dong, Zehang Weng +3
We introduce the sequential multi-object robotic grasp sampling algorithm SeqGrasp that can robustly synthesize stable grasps on diverse objects using the robotic hand's partial De…
T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects
David Blanco-Mulero, Yifei Dong, Julia Borras +2
Robotic grasp and manipulation taxonomies, inspired by observing human manipulation strategies, can provide key guidance for tasks ranging from robotic gripper design to the develo…
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
Yifei Dong, Shaohang Han, Xianyi Cheng +5
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's m…
Characterizing Manipulation Robustness through Energy Margin and Caging Analysis
Yifei Dong, Xianyi Cheng, Florian T. Pokorny
To develop robust manipulation policies, quantifying robustness is essential. Evaluating robustness in general manipulation, nonetheless, poses significant challenges due to comple…
Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects
Yifei Dong, Florian T. Pokorny
We present a sampling-based approach to reasoning about the caging-based manipulation of rigid and a simplified class of deformable 3D objects subject to energy constraints. Toward…