Kaiyu Hang

84 papers A* 9A 16Journal 50Unranked 8
YearRankTypeTitle / Venue / Authors
2026 J jnl
Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation.
IEEE Robotics Autom. Lett.
Weihang Guo, Zachary Kingston, Kaiyu Hang, Lydia E. Kavraki
2026 J jnl
ManiDreams: An Open-Source Library for Robust Object Manipulation via Uncertainty-aware Task-specific Intuitive Physics.
CoRR
Gaotian Wang, Kejia Ren, Andrew S. Morgan, Kaiyu Hang
2026 J jnl
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning.
CoRR
Yiting Chen, Kenneth Kimble, Edward H. Adelson, Tamim Asfour, Podshara Chanrungmaneekul, Sachin Chitta, Yash Chitambar, Ziyang Cheng, Ken Goldberg, Danica Kragic, Hui Li, Xiang Li, Yunzhu Li, Aaron Prather, Nancy S. Pollard, Máximo Alejandro Roa-Garzón, Robert Seney, Shuo Sha, Shihefeng Wang, Yu Xiang, Kaifeng Zhang, Yuke Zhu, Kaiyu Hang
2026 J jnl
MotionBits: Video Segmentation through Motion-Level Analysis of Rigid Bodies.
CoRR
Howard H. Qian, Kejia Ren, Yu Xiang, Vicente Ordonez, Kaiyu Hang
2025 A conf
ARC-Calib: Autonomous Markerless Camera-to-Robot Calibration via Exploratory Robot Motions.
IROS
Podshara Chanrungmaneekul, Yiting Chen, Joshua T. Grace, Aaron M. Dollar, Kaiyu Hang
2025 J jnl
ARC-Calib: Autonomous Markerless Camera-to-Robot Calibration via Exploratory Robot Motions.
CoRR
Podshara Chanrungmaneekul, Yiting Chen, Joshua T. Grace, Aaron M. Dollar, Kaiyu Hang
2025 A conf
B4P: Simultaneous Grasp and Motion Planning for Object Placement via Parallelized Bidirectional Forests and Path Repair.
IROS
Benjamin H. Leebron, Kejia Ren, Yiting Chen, Kaiyu Hang
2025 J jnl
B4P: Simultaneous Grasp and Motion Planning for Object Placement via Parallelized Bidirectional Forests and Path Repair.
CoRR
Benjamin H. Leebron, Kejia Ren, Yiting Chen, Kaiyu Hang
2025 J jnl
Caging in time: A framework for robust object manipulation under uncertainties and limited robot perception.
Int. J. Robotics Res.
Gaotian Wang, Kejia Ren, Andrew S. Morgan, Kaiyu Hang
2025 J jnl
Collision-Inclusive Manipulation Planning for Occluded Object Grasping via Compliant Robot Motions.
IEEE Robotics Autom. Lett.
Kejia Ren, Gaotian Wang, Andrew S. Morgan, Kaiyu Hang
2025 J jnl
Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation.
IEEE Trans. Robotics
Kejia Ren, Gaotian Wang, Andrew S. Morgan, Lydia E. Kavraki, Kaiyu Hang
2025 A conf
On the Role of Jacobians in Robust Manipulation.
IROS
Joshua T. Grace, Podshara Chanrungmaneekul, Kaiyu Hang, Aaron M. Dollar
2025 J jnl
Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation.
CoRR
Yiting Chen, Kenneth Kimble, Howard H. Qian, Podshara Chanrungmaneekul, Robert Seney, Kaiyu Hang
2025 A conf
Wearable Roller Rings to Augment In-Hand Manipulation through Active Surfaces.
IROS
Hayden Webb, Podshara Chanrungmaneekul, Shenli Yuan, Kaiyu Hang
2025 A conf
rt-RISeg: Real-Time Model-Free Robot Interactive Segmentation for Active Instance-Level Object Understanding.
IROS
Howard H. Qian, Yiting Chen, Gaotian Wang, Podshara Chanrungmaneekul, Kaiyu Hang
2025 J jnl
rt-RISeg: Real-Time Model-Free Robot Interactive Segmentation for Active Instance-Level Object Understanding.
CoRR
Howard H. Qian, Yiting Chen, Gaotian Wang, Podshara Chanrungmaneekul, Kaiyu Hang
2024 J jnl
Caging in Time: A Framework for Robust Object Manipulation under Uncertainties and Limited Robot Perception.
CoRR
Gaotian Wang, Kejia Ren, Andrew S. Morgan, Kaiyu Hang
2024 J jnl
Collision-inclusive Manipulation Planning for Occluded Object Grasping via Compliant Robot Motions.
CoRR
Kejia Ren, Gaotian Wang, Andrew S. Morgan, Kaiyu Hang
2024 A* conf
Direct Self-Identification of Inverse Jacobians for Dexterous Manipulation Through Particle Filtering.
ICRA
Joshua T. Grace, Podshara Chanrungmaneekul, Kaiyu Hang, Aaron M. Dollar
2024 J jnl
Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation.
CoRR
Weihang Guo, Zachary Kingston, Kaiyu Hang, Lydia E. Kavraki
2024 A conf
Interactive Robot-Environment Self-Calibration via Compliant Exploratory Actions.
IROS
Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace, Aaron M. Dollar, Kaiyu Hang
2024 J jnl
Interactive Robot-Environment Self-Calibration via Compliant Exploratory Actions.
CoRR
Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace, Aaron M. Dollar, Kaiyu Hang
2024 J jnl
Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation.
CoRR
Kejia Ren, Gaotian Wang, Andrew S. Morgan, Lydia E. Kavraki, Kaiyu Hang
2024 A* conf
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features.
ICRA
Howard H. Qian, Yangxiao Lu, Kejia Ren, Gaotian Wang, Ninad Khargonkar, Yu Xiang, Kaiyu Hang
2024 J jnl
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features.
CoRR
Howard H. Qian, Yangxiao Lu, Kejia Ren, Gaotian Wang, Ninad Khargonkar, Yu Xiang, Kaiyu Hang
2024 J jnl
Robotic Grasping and Manipulation Competition at the 2024 IEEE/RAS International Conference on Robotics and Automation [Competitions].
IEEE Robotics Autom. Mag.
Yu Sun, Berk Çalli, Kenny Kimble, Francis Wyffels, Victor-Louis De Gusseme, Kaiyu Hang, Salvatore D'Avella, Alessio Xompero, Andrea Cavallaro, Máximo A. Roa, José Avendaño, Anastasia Mavrommati
2024 A conf
UNO Push: Unified Nonprehensile Object Pushing via Non-Parametric Estimation and Model Predictive Control.
IROS
Gaotian Wang, Kejia Ren, Kaiyu Hang
2024 J jnl
UNO Push: Unified Nonprehensile Object Pushing via Non-Parametric Estimation and Model Predictive Control.
CoRR
Gaotian Wang, Kejia Ren, Kaiyu Hang
2024 J jnl
Wearable Roller Rings to Enable Robot Dexterous In-Hand Manipulation through Active Surfaces.
CoRR
Hayden Webb, Podshara Chanrungmaneekul, Shenli Yuan, Kaiyu Hang
2023 A* conf
Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation.
ICRA
Kejia Ren, Podshara Chanrungmaneekul, Lydia E. Kavraki, Kaiyu Hang
2023 J jnl
Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation.
CoRR
Kejia Ren, Podshara Chanrungmaneekul, Lydia E. Kavraki, Kaiyu Hang
2023 A conf
Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation.
IROS
Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace, Aaron M. Dollar, Kaiyu Hang
2023 J jnl
Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation.
CoRR
Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace, Aaron M. Dollar, Kaiyu Hang
2023 — conf
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction.
Robotics: Science and Systems
Yangxiao Lu, Ninad A. Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy, Kaiyu Hang, Yunhui Guo, Nicholas Ruozzi, Yu Xiang
2023 J jnl
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction.
CoRR
Yangxiao Lu, Ninad Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy, Kaiyu Hang, Yunhui Guo, Nicholas Ruozzi, Yu Xiang
2022 J jnl
Complex In-Hand Manipulation Via Compliance-Enabled Finger Gaiting and Multi-Modal Planning.
IEEE Robotics Autom. Lett.
Andrew S. Morgan, Kaiyu Hang, Bowen Wen, Kostas E. Bekris, Aaron M. Dollar
2022 J jnl
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning.
CoRR
Andrew S. Morgan, Kaiyu Hang, Bowen Wen, Kostas E. Bekris, Aaron M. Dollar
2022 A conf
Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons.
IROS
Kejia Ren, Lydia E. Kavraki, Kaiyu Hang
2022 J jnl
Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons.
CoRR
Kejia Ren, Lydia E. Kavraki, Kaiyu Hang
2021 J jnl
Herding by caging: a formation-based motion planning framework for guiding mobile agents.
Auton. Robots
Haoran Song, Anastasiia Varava, Oleksandr Kravchenko, Danica Kragic, Michael Yu Wang, Florian T. Pokorny, Kaiyu Hang
2021 J jnl
Manipulation for self-Identification, and self-Identification for better manipulation.
Sci. Robotics
Kaiyu Hang, Walter G. Bircher, Andrew S. Morgan, Aaron M. Dollar
2020 J jnl
Benchmarking Cluttered Robot Pick-and-Place Manipulation With the Box and Blocks Test.
IEEE Robotics Autom. Lett.
Andrew S. Morgan, Kaiyu Hang, Walter G. Bircher, Fadi M. Alladkani, Abhinav Gandhi, Berk Çalli, Aaron M. Dollar
2020 J jnl
Benchmarking In-Hand Manipulation.
CoRR
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic
2020 J jnl
Benchmarking In-Hand Manipulation.
IEEE Robotics Autom. Lett.
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic
2020 J jnl
Benchmarking Protocol for Grasp Planning Algorithms.
IEEE Robotics Autom. Lett.
Yasemin Bekiroglu, Naresh Marturi, Máximo A. Roa, Komlan Jean Maxime Adjigble, Tommaso Pardi, Cindy Grimm, Ravi Balasubramanian, Kaiyu Hang, Rustam Stolkin
2020 J jnl
Calculating the Support Function of Complex Continuous Surfaces With Applications to Minimum Distance Computation and Optimal Grasp Planning.
IEEE Trans. Robotics
Yu Zheng, Kaiyu Hang
2020 J jnl
Hand-object configuration estimation using particle filters for dexterous in-hand manipulation.
Int. J. Robotics Res.
Kaiyu Hang, Walter G. Bircher, Andrew S. Morgan, Aaron M. Dollar
2020 A conf
Multi-Object Rearrangement with Monte Carlo Tree Search: A Case Study on Planar Nonprehensile Sorting.
IROS
Haoran Song, Joshua A. Haustein, Weihao Yuan, Kaiyu Hang, Michael Yu Wang, Danica Kragic, Johannes A. Stork
2020 J jnl
Object-Agnostic Dexterous Manipulation of Partially Constrained Trajectories.
IEEE Robotics Autom. Lett.
Andrew S. Morgan, Kaiyu Hang, Aaron M. Dollar
2019 A conf
A Data-Driven Framework for Learning Dexterous Manipulation of Unknown Objects.
IROS
Andrew S. Morgan, Kaiyu Hang, Walter G. Bircher, Aaron M. Dollar
2019 — conf
Dual-Arm In-Hand Manipulation Using Visual Feedback.
Humanoids
Silvia Cruciani, Kaiyu Hang, Christian Smith, Danica Kragic
2019 J jnl
Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs.
CoRR
Silvia Cruciani, Kaiyu Hang, Christian Smith, Danica Kragic
2019 J jnl
End-to-end nonprehensile rearrangement with deep reinforcement learning and simulation-to-reality transfer.
Robotics Auton. Syst.
Weihao Yuan, Kaiyu Hang, Danica Kragic, Michael Yu Wang, Johannes A. Stork
2019 A* conf
Energy Gradient-Based Graphs for Planning Within-Hand Caging Manipulation.
ICRA
Walter G. Bircher, Andrew S. Morgan, Kaiyu Hang, Aaron M. Dollar
2019 J jnl
Learning Manipulation States and Actions for Efficient Non-prehensile Rearrangement Planning.
CoRR
Joshua A. Haustein, Isac Arnekvist, Johannes A. Stork, Kaiyu Hang, Danica Kragic
2019 J jnl
Multi-Object Rearrangement with Monte Carlo Tree Search: A Case Study on Planar Nonprehensile Sorting.
CoRR
Haoran Song, Joshua A. Haustein, Weihao Yuan, Kaiyu Hang, Michael Yu Wang, Danica Kragic, Johannes A. Stork
2019 J jnl
Object Placement Planning and Optimization for Robot Manipulators.
CoRR
Joshua A. Haustein, Kaiyu Hang, Johannes A. Stork, Danica Kragic
2019 A conf
Object Placement Planning and optimization for Robot Manipulators.
IROS
Joshua A. Haustein, Kaiyu Hang, Johannes A. Stork, Danica Kragic
2019 J jnl
Perching and resting - A paradigm for UAV maneuvering with modularized landing gears.
Sci. Robotics
Kaiyu Hang, Ximin Lyu, Haoran Song, Johannes A. Stork, Aaron M. Dollar, Danica Kragic, Fu Zhang
2019 — conf
Placing Objects with prior In-Hand Manipulation using Dexterous Manipulation Graphs.
Humanoids
Joshua A. Haustein, Silvia Cruciani, Rizwan Asif, Kaiyu Hang, Danica Kragic
2019 J jnl
Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands.
IEEE Robotics Autom. Lett.
Kaiyu Hang, Andrew S. Morgan, Aaron M. Dollar
2019 A* conf
Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation.
ICRA
Weihao Yuan, Kaiyu Hang, Haoran Song, Danica Kragic, Michael Yu Wang, Johannes A. Stork
2018 A conf
Dexterous Manipulation Graphs.
IROS
Silvia Cruciani, Christian Smith, Danica Kragic, Kaiyu Hang
2018 J jnl
Dexterous Manipulation Graphs.
CoRR
Silvia Cruciani, Christian Smith, Danica Kragic, Kaiyu Hang
2018 J jnl
Fingertip Surface Optimization for Robust Grasping on Contact Primitives.
IEEE Robotics Autom. Lett.
Haoran Song, Michael Yu Wang, Kaiyu Hang
2018 — conf
Path Planning for Within-Hand Manipulation over Learned Representations of Safe States.
ISER
Berk Çalli, Andrew Kimmel, Kaiyu Hang, Kostas E. Bekris, Aaron M. Dollar
2018 A* conf
Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning.
ICRA
Weihao Yuan, Johannes A. Stork, Danica Kragic, Michael Yu Wang, Kaiyu Hang
2018 J jnl
Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning.
CoRR
Weihao Yuan, Johannes A. Stork, Danica Kragic, Michael Yu Wang, Kaiyu Hang
2018 J jnl
Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation.
CoRR
Weihao Yuan, Kaiyu Hang, Haoran Song, Danica Kragic, Michael Yu Wang, Johannes A. Stork
2017 J jnl
A Framework for Optimal Grasp Contact Planning.
IEEE Robotics Autom. Lett.
Kaiyu Hang, Johannes A. Stork, Nancy S. Pollard, Danica Kragic
2017 — conf
Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots.
Robotics: Science and Systems
Anastasiia Varava, Kaiyu Hang, Danica Kragic, Florian T. Pokorny
2017 A* conf
Integrating motion and hierarchical fingertip grasp planning.
ICRA
Joshua A. Haustein, Kaiyu Hang, Danica Kragic
2016 — —
Dexterous Grasping: Representation and Optimization.
Kaiyu Hang
2016 J jnl
Dexterous grasping under shape uncertainty.
Robotics Auton. Syst.
Miao Li, Kaiyu Hang, Danica Kragic, Aude Billard
2016 J jnl
Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation.
IEEE Trans. Robotics
Kaiyu Hang, Miao Li, Johannes A. Stork, Yasemin Bekiroglu, Florian T. Pokorny, Aude Billard, Danica Kragic
2016 A* conf
On the evolution of fingertip grasping manifolds.
ICRA
Kaiyu Hang, Joshua A. Haustein, Miao Li, Aude Billard, Christian Smith, Danica Kragic
2014 A* conf
Combinatorial optimization for hierarchical contact-level grasping.
ICRA
Kaiyu Hang, Johannes A. Stork, Florian T. Pokorny, Danica Kragic
2014 A conf
Hierarchical Fingertip Space for multi-fingered precision grasping.
IROS
Kaiyu Hang, Johannes A. Stork, Danica Kragic
2013 A conf
Friction coefficients and grasp synthesis.
IROS
Kaiyu Hang, Florian T. Pokorny, Danica Kragic
2013 — conf
Grasp Moduli Spaces.
Robotics: Science and Systems
Florian T. Pokorny, Kaiyu Hang, Danica Kragic
2013 J jnl
ISABoost: A weak classifier inner structure adjusting based AdaBoost algorithm - ISABoost based application in scene categorization.
Neurocomputing
Xueming Qian, Yuan Yan Tang, Zhe Yan, Kaiyu Hang
2012 A conf
Improving generalization for 3D object categorization with Global Structure Histograms.
IROS
Marianna Madry, Carl Henrik Ek, Renaud Detry, Kaiyu Hang, Danica Kragic
2011 — conf
Boosted Scene Categorization Approach by Adjusting Inner Structures and Outer Weights of Weak Classifiers.
MMM (1)
Xueming Qian, Zhe Yan, Kaiyu Hang
2010 — conf
Scene Categorization Using Boosted Back-Propagation Neural Networks.
PCM (1)
Xueming Qian, Zhe Yan, Kaiyu Hang, Guizhong Liu, Huan Wang, Zhe Wang, Zhi Li