Research
* equal contribution   ✉ corresponding author
Preprints
![teaser](https://assets.yuyangli.com/Academic/TRO_TactileSI_Manipulation/Teaser.jpg)
★ Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects
Zihang Zhao * Yuyang Li * Wanlin Li Zhenghao Qi Lecheng Ruan ✉ Yixin Zhu ✉ Kaspar Althoefer
A prior-free method for articulated object manipulation, based on tactile pattern from GelSight-inspired sensors.
arXiv PDF CodePreprint
Publications
![teaser](https://assets.yuyangli.com/Academic/IROS24_Ag2Manip/teaser.jpg)
Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representations
Puhao Li * Tengyu Liu * Yuyang Li Muzhi Han Haoran Geng Shu Wang Yixin Zhu Song-Chun Zhu Siyuan Huang ✉
Learning novel manipulation skills with agent-agnostic value and action representations.
Website arXiv PDF CodeIROS 2024, oral pitch presentation
![teaser](https://assets.yuyangli.com/Academic/IROS24_PreAfford/result.jpg)
PreAfford: Affordance-based Pre-grasping across Objects and Scenes
* Yuyang Li Huan-ang Gao Yixin Zhu Guyue Zhou Hao Dong Hao Zhao ✉
A universal pre-grasping manipulation framework using affordance representation.
Website arXiv PDFIROS 2024, oral pitch presentation
![teaser](https://assets.yuyangli.com/Academic/ICRA24_Grasp/teaser.png)
★ Grasp Multiple Objects with One Hand
Yuyang Li Bo Liu Yiran Geng Puhao Li Yaodong Yang Yixin Zhu Tengyu Liu ✉ Siyuan Huang ✉
We propose MultiGrasp, a two-stage framework for simultaneous multi-object grasping with multi-finger dexterous hands. In addition, we contribute Grasp'Em, a large-scale synthetic multi-object grasping dataset.
Website arXiv PDF Code DataRA-L | IROS 2024, oral presentation
![teaser](https://assets.yuyangli.com/Academic/ICRA23_Grasp/teaser.gif)
GenDexGrasp: Generalizable Dexterous Grasping
Puhao Li * Tengyu Liu * Yuyang Li Yiran Geng Yaodong Yang Yixin Zhu Siyuan Huang ✉
We propose GenDexGrasp, a versatile dexterous grasping method that can generalize to out-of-domain robotic hands. In addition, we contribute MultiDex, a large-scale synthetic dexterous grasping dataset.
Website arXiv PDF CodeICRA 2023