Publications

Gaotian Wang, Kejia Ren, Andrew S. Morgan, Kaiyu Hang (2026). ManiDreams: An Open-Source Library for Robust Object Manipulation via Uncertainty-aware Task-specific Intuitive Physics. arXiv.

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Howard H. Qian, Kejia Ren, Yu Xiang, Vicente Ordonez, Kaiyu Hang (2026). MotionBits: Video Segmentation through Motion-Level Analysis of Rigid Bodies. arXiv.

Kejia Ren, Gaotian Wang, Andrew S. Morgan, Lydia E. Kavraki, Kaiyu Hang (2025). Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation. IEEE Transactions on Robotics (T-RO).

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Joshua T. Grace, Podshara Chanrungmaneekul, Kaiyu Hang, Aaron M. Dollar (2025). On the Role of Jacobians in Robust Manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Hayden Webb, Podshara Chanrungmaneekul, Shenli Yuan, Kaiyu Hang (2025). Wearable Roller Rings to Enable Robot Dexterous In-Hand Manipulation through Active Surfaces. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Howard H. Qian, Yiting Chen, Gaotian Wang, Podshara Chanrungmaneekul, Kaiyu Hang (2025). rt-RISeg: Real-Time Model-Free Robot Interactive Segmentation for Active Instance-Level Object Understanding. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Benjamin H. Leebron, Kejia Ren, Yiting Chen, Kaiyu Hang (2025). B4P: Simultaneous Grasp and Motion Planning for Object Placement via Parallelized Bidirectional Forests and Path Repair. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Podshara Chanrungmaneekul, Yiting Chen, Joshua T. Grace, Aaron M. Dollar, Kaiyu Hang (2025). ARC-Calib: Autonomous Markerless Camera-to-Robot Calibration via Exploratory Robot Motions. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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Kejia Ren, Gaotian Wang, Andrew S. Morgan, Kaiyu Hang (2025). Collision-inclusive Manipulation Planning for Occluded Object Grasping via Compliant Robot Motions. IEEE Robotics and Automation Letters (RAL).

Gaotian Wang, Kejia Ren, Andrew S. Morgan, Kaiyu Hang (2025). Caging in Time: A Framework for Robust Object Manipulation under Uncertainties and Limited Robot Perception. International Journal of Robotics Research (IJRR).

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Yiting Chen, Kenneth Kimble, Howard H. Qian, Podshara Chanrungmaneekul, Robert Seney, Kaiyu Hang (2025). Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation. Robotics, Science and Systems (RSS).

Yu Sun, Berk Calli, Kenny Kimble, Francis Wyffels, Victor-Louis De Gusseme, Kaiyu Hang, Salvatore D'Avella, Alessio Xompero, Andrea Cavallaro, Maximo A. Roa, Jose Avendano, Anastasia Mavrommati (2024). Robotic Grasping and Manipulation Competition at the 2024 IEEE/RAS International Conference on Robotics and Automation. IEEE Robotics & Automation Magazine.

Gaotian Wang, Kejia Ren, Kaiyu Hang (2024). UNO Push: Unified Nonprehensile Object Pushing via Non-Parametric Estimation and Model Predictive Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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).

Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace, Aaron M. Dollar, Kaiyu Hang (2024). Interactive Robot-Environment Self-Calibration via Compliant Exploratory Actions. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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).

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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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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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).

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).

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).

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.

Kaiyu Hang, Walter G. Bircher, Andrew S. Morgan, Aaron M. Dollar (2021). Manipulation for self-Identification, and self-Identification for better manipulation. Science Robotics.

Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic (2020). Benchmarking In-Hand Manipulation. IEEE Robotics and Automation Letters (RAL).

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).

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).

Andrew S. Morgan, Kaiyu Hang, Aaron M. Dollar (2020). Object-Agnostic Dexterous Manipulation of Partially Constrained Trajectories. IEEE Robotics and Automation Letters (RAL).

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).

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).

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).

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).

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).

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).

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).

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).

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).

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).

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).

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).

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.

Haoran Song, Michael Y. Wang, Kaiyu Hang (2018). Fingertip Surface Optimization for Robust Grasping on Contact Primitives. IEEE Robotics and Automation Letters (RAL).

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).

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).

Silvia Cruciani, Christian Smith, Danica Kragic, Kaiyu Hang (2018). Dexterous Manipulation Graphs. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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).

Kaiyu Hang, Johannes A. Stork, Nancy S. Pollard, Danica Kragic (2017). A Framework For Optimal Grasp Contact Planning. IEEE Robotics and Automation Letters (RAL).

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).

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).

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).

Miao Li, Kaiyu Hang, Danica Kragic, Aude Billard (2016). Dexterous Grasping under Shape Uncertainty. Robotics and Autonomous Systems (RAS).

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).

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).

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).

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).

Florian T. Pokorny, Kaiyu Hang, Danica Kragic (2013). Grasp Moduli Spaces. Robotics: Science and Sytems (RSS).

Kaiyu Hang, Florian T. Pokorny, Danica Kragic (2013). Friction Coefficients and Grasp Synthesis. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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).