2025

1. Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning

   Zhaoyuan Gu, Junheng Li, Wenlan Shen, Wenhao Yu, Zhaoming Xie, Stephen McCrory, Xianyi Cheng, Abdulaziz Shamsah, Robert Griffin, C. Karen Liu, and 8 more authors

   IEEE/ASME Transactions on Mechatronics, 2025

   PAPER Bib

   @article{gu2025humanoid,
     title = {Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning},
     author = {Gu, Zhaoyuan and Li, Junheng and Shen, Wenlan and Yu, Wenhao and Xie, Zhaoming and McCrory, Stephen and Cheng, Xianyi and Shamsah, Abdulaziz and Griffin, Robert and Liu, C. Karen and Kheddar, Abderrahmane and Peng, Xue Bin and Zhu, Yuke and Shi, Guanya and Nguyen, Quan and Cheng, Gordon and Gao, Huijun and Zhao, Ye},
     journal = {IEEE/ASME Transactions on Mechatronics},
     year = {2025},
     eprint = {2501.02116},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
   }

2024

1. Characterizing manipulation robustness through energy margin and caging analysis

   Yifei Dong, Xianyi Cheng, and Florian T Pokorny

   IEEE Robotics and Automation Letters, 2024

   PAPER Bib

   @article{dong2024characterizing,
     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},
     volume = {9},
     number = {9},
     pages = {7525--7532},
     year = {2024},
     publisher = {IEEE},
   }

2. Contact Interactions for Robot Dexterity

   Xianyi Cheng

   Carnegie Mellon University, 2024

   Ph.D. dissertation

   Bib PAPER

   @phdthesis{cheng2024contact,
     title = {Contact Interactions for Robot Dexterity},
     author = {Cheng, Xianyi},
     school = {Carnegie Mellon University},
     year = {2024},
     note = {Ph.D. dissertation},
   }

2023

1. Autogenerated Manipulation Primitives

   Eric Huang, Xianyi Cheng, Yuemin Mao, Arnav Gupta, and Matthew T Mason

   The International Journal of Robotics Research (IJRR), 2023

   Bib PAPER

   @article{amp,
     title = {Autogenerated Manipulation Primitives},
     author = {Huang, Eric and Cheng, Xianyi and Mao, Yuemin and Gupta, Arnav and Mason, Matthew T},
     journal = {The International Journal of Robotics Research (IJRR)},
     year = {2023},
   }

2. Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration

   Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, and Matthew T Mason

   IEEE Robotics and Automation Letters (RAL), 2023

   PAPER Bib Website

   @article{hidex,
     title = {Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration},
     author = {Cheng, Xianyi and Patil, Sarvesh and Temel, Zeynep and Kroemer, Oliver and Mason, Matthew T},
     journal = {IEEE Robotics and Automation Letters (RAL)},
     year = {2023},
   }

2022

1. Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D

   Xianyi Cheng, Eric Huang, Yifan Hou, and Matthew T. Mason

   In IEEE International Conference on Robotics and Automation (ICRA), 2022

   PAPER Bib

   @inproceedings{3d,
     title = {Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D},
     author = {Cheng, Xianyi and Huang, Eric and Hou, Yifan and Mason, Matthew T.},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2022},
   }

2. Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation

   Jacky Liang, Xianyi Cheng, and Oliver Kroemer

   Conference on Robot Learning (CoRL), 2022

   PAPER Bib

   @article{hfvc,
     title = {Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation},
     author = {Liang, Jacky and Cheng, Xianyi and Kroemer, Oliver},
     journal = {Conference on Robot Learning (CoRL)},
     year = {2022},
   }

3. Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study

   Arnav Gupta, Yuemin Mao, Ankit Bhatia, Xianyi Cheng, Jonathan King, Yifan Hou, and Matthew T Mason

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

   Bib PAPER

   @inproceedings{magna,
     title = {Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study},
     author = {Gupta, Arnav and Mao, Yuemin and Bhatia, Ankit and Cheng, Xianyi and King, Jonathan and Hou, Yifan and Mason, Matthew T},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2022},
   }

2021

1. Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D

   Xianyi Cheng, Eric Huang, Yifan Hou, and Matthew T. Mason

   IEEE International Conference on Robotics and Automation (ICRA), 2021

   PAPER Bib

   @article{2d,
     title = {Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D},
     author = {Cheng, Xianyi and Huang, Eric and Hou, Yifan and Mason, Matthew T.},
     journal = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2021},
   }

2020

1. Efficient Contact Mode Enumeration in 3D

   Eric Huang, Xianyi Cheng, and Matthew T Mason

   In Workshop on the Algorithmic Foundations of Robotics (WAFR), 2020

   PAPER Bib

   @inproceedings{mode,
     title = {Efficient Contact Mode Enumeration in 3D},
     author = {Huang, Eric and Cheng, Xianyi and Mason, Matthew T},
     booktitle = {Workshop on the Algorithmic Foundations of Robotics (WAFR)},
     year = {2020},
   }

2019

1. Manipulation with Suction Cups Using External Contacts

   Xianyi Cheng, Yifan Hou, and Matthew T Mason

   In Robotics Research: The 19th International Symposium (ISRR), 2019

   Bib PAPER

   @inproceedings{suctioncup,
     title = {Manipulation with Suction Cups Using External Contacts},
     author = {Cheng, Xianyi and Hou, Yifan and Mason, Matthew T},
     booktitle = {Robotics Research: The 19th International Symposium (ISRR)},
     year = {2019},
   }

2. Data-Efficient Process Monitoring and Failure Detection for Robust Robotic Screwdriving

   Xianyi Cheng, Zhenzhong Jia, and Matthew T. Mason

   In IEEE International Conference on Automation Science and Engineering (CASE), 2019

   Bib PAPER

   @inproceedings{screwdriving_2,
     title = {Data-Efficient Process Monitoring and Failure Detection for Robust Robotic Screwdriving},
     author = {Cheng, Xianyi and Jia, Zhenzhong and Mason, Matthew T.},
     booktitle = {IEEE International Conference on Automation Science and Engineering (CASE)},
     year = {2019},
   }

2018

1. Sensor Selection and Stage & Result Classifications for Automated Miniature Screwdriving

   Xianyi Cheng, Zhenzhong Jia, Ankit Bhatia, Reuben M. Aronson, and Matthew T. Mason

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

   Bib PAPER

   @inproceedings{screwdriving_1,
     title = {Sensor Selection and Stage \& Result Classifications for Automated Miniature Screwdriving},
     author = {Cheng, Xianyi and Jia, Zhenzhong and Bhatia, Ankit and Aronson, Reuben M. and Mason, Matthew T.},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2018},
   }