@misc{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},archiveprefix={arXiv},primaryclass={cs.RO},url={https://arxiv.org/abs/2606.31494},}
CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
@inproceedings{luo2026ceercompliantendeffectorroot,title={CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation},author={Luo, Xinyuan and Chen, Xingrui and Yin, Xunjian and Wu, Hongxuan and Xia, Boxi and Chen, Zhuoqun and Li, Jinzhou and Chen, Boyuan and Cheng, Xianyi},booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},year={2026},archiveprefix={arXiv},primaryclass={cs.RO},url={https://arxiv.org/abs/2605.19981},}
Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity
Weizhe Ni, Jinzhou Li, Haoyu Li, Cody Andres Alessio-Bunnell, Wenjing Pan, and Xianyi Cheng
@misc{ni2026anyttach,title={Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity},author={Ni, Weizhe and Li, Jinzhou and Li, Haoyu and Alessio-Bunnell, Cody Andres and Pan, Wenjing and Cheng, Xianyi},year={2026},archiveprefix={arXiv},primaryclass={cs.RO},url={https://arxiv.org/abs/2605.30569},}
PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning
Haoyu Li, Aaron Thomas, Shuyan Zhou, and Xianyi Cheng
@misc{li2026physgraphphysicsaware3dscene,title={PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning},author={Li, Haoyu and Thomas, Aaron and Zhou, Shuyan and Cheng, Xianyi},year={2026},archiveprefix={arXiv},primaryclass={cs.RO},url={https://arxiv.org/abs/2606.08655},}
2025
OPENTOUCH: Bringing Full-Hand Touch to Real-World Interaction
Yuxin Ray Song, Jinzhou Li, Rao Fu, Devin Murphy, Kaichen Zhou, Rishi Shiv, Yaqi Li, Haoyu Xiong, Crystal Elaine Owens, Yilun Du, Yiyue Luo, Xianyi Cheng, Antonio Torralba, Wojciech Matusik, and Paul Pu Liang
@article{song2025opentouch,title={OPENTOUCH: Bringing Full-Hand Touch to Real-World Interaction},author={Song, Yuxin Ray and Li, Jinzhou and Fu, Rao and Murphy, Devin and Zhou, Kaichen and Shiv, Rishi and Li, Yaqi and Xiong, Haoyu and Owens, Crystal Elaine and Du, Yilun and Luo, Yiyue and Cheng, Xianyi and Torralba, Antonio and Matusik, Wojciech and Liang, Paul Pu},journal={arXiv preprint arXiv:2512.16842},year={2025},}
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, Abderrahmane Kheddar, Xue Bin Peng, Yuke Zhu, Guanya Shi, Quan Nguyen, Gordon Cheng, Huijun Gao, and Ye Zhao
@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},}
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, Jana Tumova, and Florian T. Pokorny
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},}
2024
Characterizing Manipulation Robustness through Energy Margin and Caging Analysis
@article{dong2024caging,title={Characterizing Manipulation Robustness through Energy Margin and Caging Analysis},author={Dong, Yifei and Cheng, Xianyi and Pokorny, Florian T.},journal={Robotics and Automation Letters (RA-L)},year={2024},}
@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},}
Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration
Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, and Matthew T Mason
@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
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
@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},}
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
@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},}
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
@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
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
@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
Efficient Contact Mode Enumeration in 3D
Eric Huang, Xianyi Cheng, and Matthew T Mason
In Workshop on the Algorithmic Foundations of Robotics (WAFR), 2020
@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
Manipulation with Suction Cups Using External Contacts
Xianyi Cheng, Yifan Hou, and Matthew T Mason
In Robotics Research: The 19th International Symposium (ISRR), 2019
@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},}
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
@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
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
@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},}