Publications

2024

1. 

   Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control

   Yifan Hou, Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, and Shuran Song

   2024

   Bib PDF Website

   @misc{hou2024acp,
     title = {Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control},
     author = {Hou, Yifan and Liu, Zeyi and Chi, Cheng and Cousineau, Eric and Kuppuswamy, Naveen and Feng, Siyuan and Burchfiel, Benjamin and Song, Shuran},
     year = {2024},
     eprint = {2410.09309},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2410.09309},
   }

2. Science Robotics

   

   SimPLE, a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects

   Maria Bauza, Antonia Bronars, Yifan Hou, Ian Taylor, Nikhil Chavan-Dafle, and Alberto Rodriguez

   Science Robotics, 2024

   Bib PDF Website

   @article{bauza2024simple,
     title = {SimPLE, a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects},
     author = {Bauza, Maria and Bronars, Antonia and Hou, Yifan and Taylor, Ian and Chavan-Dafle, Nikhil and Rodriguez, Alberto},
     journal = {Science Robotics},
     volume = {9},
     number = {91},
     pages = {eadi8808},
     year = {2024},
     publisher = {American Association for the Advancement of Science},
   }

2022

1. IROS

   

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

   Bib PDF

   @inproceedings{gupta2022extrinsic,
     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 = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {4660--4667},
     year = {2022},
     organization = {IEEE},
   }

2. ICRA

   

   Contact mode guided motion planning for quasidynamic dexterous manipulation in 3d

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

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

   Bib PDF Video

   @inproceedings{cheng2022contact,
     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 = {2022 International Conference on Robotics and Automation (ICRA)},
     pages = {2730--2736},
     year = {2022},
     organization = {IEEE},
   }

2021

1. ICRA

   

   An efficient closed-form method for optimal hybrid force-velocity control

   Yifan Hou, and Matthew T Mason

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

   Bib PDF

   @inproceedings{hou2021efficient,
     title = {An efficient closed-form method for optimal hybrid force-velocity control},
     author = {Hou, Yifan and Mason, Matthew T},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {11125--11131},
     year = {2021},
     organization = {IEEE},
   }

2. ICRA

   

   Contact mode guided sampling-based planning for quasistatic dexterous manipulation in 2d

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

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

   Bib PDF Video

   @inproceedings{cheng2021contact,
     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},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {6520--6526},
     year = {2021},
     organization = {IEEE},
   }

2020

1. RSS

   

   Manipulation with Shared Grasping

   Yifan Hou, Zhenzhong Jia, and Matthew T. Mason

   Jun 2020

   Bib PDF Video

   @conference{hou2020manipulation,
     author = {Hou, Yifan and Jia, Zhenzhong and Mason, Matthew T.},
     title = {Manipulation with Shared Grasping},
     booktitle = {Proceedings of Robotics: Science and Systems (RSS '20)},
     year = {2020},
     month = jun,
   }

2019

1. ISRR

   

   Manipulation with suction cups using external contacts

   Xianyi Cheng, Yifan Hou, and Matthew T Mason

   In The International Symposium of Robotics Research, Jun 2019

   Bib PDF Website

   @inproceedings{cheng2019manipulation,
     title = {Manipulation with suction cups using external contacts},
     author = {Cheng, Xianyi and Hou, Yifan and Mason, Matthew T},
     booktitle = {The International Symposium of Robotics Research},
     pages = {692--708},
     year = {2019},
     organization = {Springer},
   }

2. IJRR

   

   Pushing revisited: Differential flatness, trajectory planning, and stabilization

   Jiaji Zhou, Yifan Hou, and Matthew T Mason

   The International Journal of Robotics Research, Jun 2019

   Bib PDF

   @article{zhou2019pushing,
     title = {Pushing revisited: Differential flatness, trajectory planning, and stabilization},
     author = {Zhou, Jiaji and Hou, Yifan and Mason, Matthew T},
     journal = {The International Journal of Robotics Research},
     volume = {38},
     number = {12-13},
     pages = {1477--1489},
     year = {2019},
     publisher = {SAGE Publications Sage UK: London, England},
   }

3. IROS

   Criteria for maintaining desired contacts for quasi-static systems

   Yifan Hou, and Matthew T Mason

   In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jun 2019

   Bib PDF

   @inproceedings{hou2019criteria,
     title = {Criteria for maintaining desired contacts for quasi-static systems},
     author = {Hou, Yifan and Mason, Matthew T},
     booktitle = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {6555--6561},
     year = {2019},
     organization = {IEEE},
   }

4. ICRA

   

   Robust execution of contact-rich motion plans by hybrid force-velocity control

   Yifan Hou, and Matthew T Mason

   In 2019 International Conference on Robotics and Automation (ICRA), Jun 2019

   Video Code Website

2018

1. ICRA

   

   Fast planning for 3d any-pose-reorienting using pivoting

   Yifan Hou, Zhenzhong Jia, and Matthew T Mason

   In 2018 IEEE International Conference on Robotics and Automation (ICRA), Jun 2018

   Bib PDF Video Website

   @inproceedings{hou2018fast,
     title = {Fast planning for 3d any-pose-reorienting using pivoting},
     author = {Hou, Yifan and Jia, Zhenzhong and Mason, Matthew T},
     booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {1631--1638},
     year = {2018},
     organization = {IEEE},
   }

2016

1. WAFR

   

   Robust planar dynamic pivoting by regulating inertial and grip forces

   Yifan Hou, Zhenzhong Jia, Aaron M Johnson, and Matthew T Mason

   In Algorithmic Foundations of Robotics XII: Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics, Jun 2016

   Bib PDF Video

   @inproceedings{hou2016robust,
     title = {Robust planar dynamic pivoting by regulating inertial and grip forces},
     author = {Hou, Yifan and Jia, Zhenzhong and Johnson, Aaron M and Mason, Matthew T},
     booktitle = {Algorithmic Foundations of Robotics XII: Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics},
     pages = {464--479},
     year = {2016},
     organization = {Springer},
   }

2014

1. Follow my step: A framework for biped robots to imitate human walking

   Yifan Hou, and Mingguo Zhao

   In 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), Jun 2014

   Bib

   @inproceedings{hou2014follow,
     title = {Follow my step: A framework for biped robots to imitate human walking},
     author = {Hou, Yifan and Zhao, Mingguo},
     booktitle = {2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)},
     pages = {2471--2476},
     year = {2014},
     organization = {IEEE},
   }