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2024
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Hayden Webb
,
Podshara Chanrungmaneekul
,
Shenli Yuan
,
Kaiyu Hang
(2024).
Wearable Roller Rings to Enable Robot Dexterous In-Hand Manipulation through Active Surfaces
. ArXiv.
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Video
Gaotian Wang
,
Kejia Ren
,
Kaiyu Hang
(2024).
UNO Push: Unified Nonprehensile Object Pushing via Non-Parametric Estimation and Model Predictive Control
. ArXiv.
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Video
Howard Qian
,
Yangxiao Lu
,
Kejia Ren
,
Gaotian Wang
,
Ninad Khargonkar
,
Yu Xiang
,
Kaiyu Hang
(2024).
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features
. IEEE International Conference on Robotics and Automation (ICRA).
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Video
Podshara Chanrungmaneekul
,
Kejia Ren
,
Joshua T. Grace
,
Aaron M. Dollar
,
Kaiyu Hang
(2024).
Interactive Robot-Environment Self-Calibration via Compliant Exploratory Actions
. ArXiv.
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Video
Joshua T. Grace
,
Podshara Chanrungmaneekul
,
Kaiyu Hang
,
Aaron M. Dollar
(2024).
Direct Self-Identification of Inverse Jacobians for Dexterous Manipulation Through Particle Filtering
. IEEE International Conference on Robotics and Automation (ICRA).
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Podshara Chanrungmaneekul
,
Kejia Ren
,
Joshua T. Grace
,
Aaron M. Dollar
,
Kaiyu Hang
(2023).
Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation
. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Video
Arxiv
Kejia Ren
,
Podshara Chanrungmaneekul
,
Lydia E. Kavraki
,
Kaiyu Hang
(2023).
Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation
. IEEE-RAS International Conference on Robotics and Automation (ICRA).
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Video
Arxiv
Yangxiao Lu
,
Ninad Khargonkar
,
Zesheng Xu
,
Charles Averill
,
Kamalesh Palanisamy
,
Kaiyu Hang
,
Yunhui Guo
,
Nicholas Ruozzi
,
Yu Xiang
(2023).
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction
. Robotics: Science and Systems (RSS).
PDF
Video
Kejia Ren
,
Lydia E. Kavraki
,
Kaiyu Hang
(2022).
Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons
. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Video
Andrew S. Morgan
,
Kaiyu Hang
,
Bowen Wen
,
Kostas Bekris
,
and Aaron M. Dollar
(2022).
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning
. IEEE Robotics and Automation Letters (RAL).
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Haoran Song
,
Anastasiia Varava
,
Oleksandr Kravchenko
,
Danica Kragic
,
Michael Y. Wang
,
Florian T. Pokorny
,
Kaiyu Hang
(2021).
Herding by Caging: A Formation-Based Motion Planning Framework for Guiding Mobile Agents
. Autonomous Robots.
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Kaiyu Hang
,
Walter G. Bircher
,
Andrew S. Morgan
,
Aaron M. Dollar
(2021).
Manipulation for self-Identification, and self-Identification for better manipulation
. Science Robotics.
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Silvia Cruciani
,
Balakumar Sundaralingam
,
Kaiyu Hang
,
Vikash Kumar
,
Tucker Hermans
,
Danica Kragic
(2020).
Benchmarking In-Hand Manipulation
. IEEE Robotics and Automation Letters (RAL).
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Andrew S. Morgan
,
Kaiyu Hang
,
Walter G. Bircher
,
Fadi M. Alladkani
,
Abhinav Gandhi
,
Berk Calli
,
Aaron M. Dollar
(2020).
Benchmarking Cluttered Robot Pick-and-Place Manipulation with the Box and Blocks Test
. IEEE Robotics and Automation Letters (RAL).
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Yu Zheng
,
Kaiyu Hang
(2020).
Calculating the Support Function of Complex Continuous Surfaces With Applications to Minimum Distance Computation and Optimal Grasp Planning
. IEEE Transactions on Robotics (TRO).
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Andrew S. Morgan
,
Kaiyu Hang
,
Aaron M. Dollar
(2020).
Object-Agnostic Dexterous Manipulation of Partially Constrained Trajectories
. IEEE Robotics and Automation Letters (RAL).
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Haoran Song
,
Joshua A. Haustein
,
Weihao Yuan
,
Kaiyu Hang
,
Michael Y. Wang
,
Danica Kragic
,
Johannes A. Stork
(2020).
Multi-Object Rearrangement with Monte Carlo Tree Search: A Case Study on Planar Nonprehensile Sorting
. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Weihao Yuan
,
Kaiyu Hang
,
Haoran Song
,
Danica Kragic
,
Michael Y. Wang
,
Johannes A. Stork
(2019).
Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
. IEEE-RAS International Conference on Robotics and Automation (ICRA).
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Weihao Yuan
,
Kaiyu Hang
,
Danica Kragic
,
Michael Y. Wang
,
Johannes A. Stork
(2019).
End-to-End Nonprehensile Rearrangement with Deep Reinforcement Learning and Simulation-to-Reality Transfer
. Robotics and Autonomous Systems (RAS).
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Kaiyu Hang
,
Andrew S. Morgan
,
Aaron M. Dollar
(2019).
Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands
. IEEE Robotics and Automation Letters (RAL).
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Kaiyu Hang
,
Walter G. Bircher
,
Andrew S. Morgan
,
and Aaron M. Dollar
(2019).
Hand-object configuration estimation using particle filters for dexterous in-hand manipulation
. International Journal of Robotics Research (IJRR).
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Yasemin Bekiroglu
,
Naresh Marturi
,
Maximo A. Roa
,
Maxime Adjigble
,
Tommaso Pardi
,
Cindy Grimm
,
Ravi Balasubramanian
,
Kaiyu Hang
,
Rustam Stolkin
(2019).
Benchmarking Protocol for Grasp Planning Algorithms
. IEEE Robotics and Automation Letters (RAL).
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Walter G. Bircher
,
Andrew S. Morgan
,
Kaiyu Hang
,
Aaron M. Dollar
(2019).
Energy Gradient-Based Graphs for Planning Within-Hand Caging Manipulation
. IEEE-RAS International Conference on Robotics and Automation (ICRA).
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Kaiyu Hang
,
Andrew S. Morgan
,
Aaron M. Dollar
(2019).
Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands
. IEEE-RAS International Conference on Robotics and Automation (ICRA) (RA-L Submission).
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Joshua A. Haustein
,
Silvia Cruciani
,
Rizwan Asif
,
Kaiyu Hang and Danica Kragic
(2019).
Placing Objects with prior In-Hand Manipulation using Dexterous Manipulation Graphs
. IEEE-RAS International Conference on Humanoids Robots (Humanoids).
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Silvia Cruciani
,
Kaiyu Hang
,
Christian Smith
,
Danica Kragic
(2019).
Dual-Arm In-Hand Manipulation Using Visual Feedback
. IEEE-RAS International Conference on Humanoids Robots (Humanoids).
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Joshua A. Haustein
,
Kaiyu Hang
,
Johannes A. Stork
,
Danica Kragic
(2019).
Object Placement Planning and Optimization for Robot Manipulators
. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Andrew S. Morgan
,
Kaiyu Hang
,
Walter G. Bircher
,
Aaron M. Dollar
(2019).
A Data-Driven Framework for Learning Dexterous Manipulation of Unknown Objects
. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Kaiyu Hang
,
Ximin Lyu
,
Haoran Song
,
Johannes A. Stork
,
Aaron M. Dollar
,
Danica Kragic
,
Fu Zhang
(2019).
Perching and resting -- A paradigm for UAV maneuvering with modularized landing gears
. Science Robotics.
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Haoran Song
,
Michael Y. Wang
,
Kaiyu Hang
(2018).
Fingertip Surface Optimization for Robust Grasping on Contact Primitives
. IEEE Robotics and Automation Letters (RAL).
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Haoran Song
,
Michael Y. Wang
,
Kaiyu Hang
(2018).
Fingertip Surface Optimization for Robust Grasping on Contact Primitives
. IEEE-RAS International Conference on Robotics and Automation (ICRA).
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Weihao Yuan
,
Johannes A. Stork
,
Danica Kragic
,
Michael Y. Wang and Kaiyu Hang
(2018).
Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning
. IEEE-RAS International Conference on Robotics and Automation (ICRA).
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Arxiv
Silvia Cruciani
,
Christian Smith
,
Danica Kragic
,
Kaiyu Hang
(2018).
Dexterous Manipulation Graphs
. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Berk Calli
,
Andrew Kimmel
,
Kaiyu Hang
,
Kostas Bekris
,
and Aaron M. Dollar
(2018).
Path Planning for Within-Hand Manipulation over Learned Representations of Safe States
. International Symposium on Experimental Robotics (ISER).
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Kaiyu Hang
,
Johannes A. Stork
,
Nancy S. Pollard
,
Danica Kragic
(2017).
A Framework For Optimal Grasp Contact Planning
. IEEE Robotics and Automation Letters (RAL).
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Kaiyu Hang
,
Johannes A. Stork
,
Nancy S. Pollard
,
Danica Kragic
(2017).
A Framework For Optimal Grasp Contact Planning
. IEEE-RAS International Conference on Robotics and Automation (ICRA).
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Joshua A. Haustein
,
Kaiyu Hang and Danica Kragic
(2017).
Integrating Motion and Hierarchical Fingertip Grasp Planning
. IEEE-RAS International Conference on Robotics and Automation (ICRA).
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Anastasiia Varava
,
Kaiyu Hang
,
Danica Kragic
,
Florian T. Pokorny
(2017).
Herding by Caging: A Topological Approach towards Guiding Moving Agents via Mobile Robots
. Robotics: Science and Systems (RSS).
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Miao Li
,
Kaiyu Hang
,
Danica Kragic
,
Aude Billard
(2016).
Dexterous Grasping under Shape Uncertainty
. Robotics and Autonomous Systems (RAS).
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Kaiyu Hang
,
Miao Li
,
Johannes A. Stork
,
Yasemin Bekiroglu
,
Florian T. Pokorny
,
Aude Billard
,
Danica Kragic
(2016).
Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation
. IEEE Transactions on Robotics (TRO).
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Video
Kaiyu Hang
,
Joshua A. Haustein
,
Miao Li
,
Aude Billard
,
Christian Smith
,
Danica Kragic
(2016).
On the Evolution of Fingertip Grasping Manifolds
. IEEE-RAS International Conference on Robotics and Automation (ICRA).
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Kaiyu Hang
,
Johannes A. Stork
,
Florian T. Pokorny
,
Danica Kragic
(2014).
Combinatorial Optimization for Hierarchical Contact-level Grasping
. IEEE-RAS International Conference on Robotics and Automation (ICRA).
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Kaiyu Hang
,
Johannes A. Stork
,
Danica Kragic
(2014).
Hierarchical Fingertip Space for Multi-fingered Precision Grasping
. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Florian T. Pokorny
,
Kaiyu Hang
,
Danica Kragic
(2013).
Grasp Moduli Spaces
. Robotics: Science and Sytems (RSS).
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Kaiyu Hang
,
Florian T. Pokorny
,
Danica Kragic
(2013).
Friction Coefficients and Grasp Synthesis
. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Marianna Madry
,
Carl Henrik Ek
,
Renaud Detry
,
Kaiyu Hang
,
Danica Kragic
(2012).
Improving Generalization for 3D Object Categorization with Global Structure Histograms
. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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