HANDLE: Safe Non-prehensile Liquid Manipulation in Cluttered, Human-centric Environments with Physical Human-Robot Interaction

Yuhe Gong, Junhui Huang, Riddhiman Laha, Zewen Yang, Hao Xing, Ayse Kucukyilmaz, Seth Hutchinson, Luis Figueredo

@article{gong2026handle,
  title={HANDLE: Safe Non-prehensile Liquid Manipulation in Cluttered, Human-centric Environments with Physical Human-Robot Interaction},
  author={Gong, Yuhe and Huang, Junhui and Laha, Riddhiman and Yang, Zewen and Xing, Hao and Kucukyilmaz, Ayse and Hutchinson, Seth and Figueredo, Luis},
  journal={Under Review},
  year={2026}
}

GELATO: Multi-Instruction Trajectory Reshaping via Geometry-Aware Multiagent-based Orchestration

Junhui Huang^†, Yuhe Gong^†, Changsheng Li, Xingguang Duan, Luis Figueredo

@article{huang2025gelato,
            title={GELATO: Multi-Instruction Trajectory Reshaping via Geometry-Aware Multiagent-based Orchestration},
            author={Huang, Junhui and Gong, Yuhe and Li, Changsheng and Duan, Xingguang and Figueredo, Luis},
            journal={IEEE Transactions on Automation Science and Engineering},
            year={2025},
            publisher={IEEE},
            doi={10.1109/TASE.2025.11738801}
          }

Biomimetic cues enable predictive mechanisms in simulated and physical robot-human object handovers

Clara Günter, Yuhe Gong, Riddhiman Laha, Simon Appoltshauser, Luis Figueredo, Joachim Hermsdörfer, David W. Franklin

@article{gunter2026biomimetic,
  title={Biomimetic Cues Enable Predictive Mechanisms in Simulated and Physical Robot-Human Object Handovers},
  author={G{\"u}nter, Clara and Gong, Yuhe and Laha, Riddhiman and Appoltshauser, Simon and Figueredo, Luis and Hermsd{\"o}rfer, Joachim and Franklin, David W.},
  journal={ACM Transactions on Human-Robot Interaction},
  year={2026},
  publisher={Association for Computing Machinery},
  address={New York, NY, USA},
  doi={10.1145/3848631},
  url={https://doi.org/10.1145/3848631}
}

Contact-Safe Reinforcement Learning with ProMP Reparameterization and Energy Awareness

Bingkun Huang, Yuhe Gong, Zewen Yang, Tianyu Ren, Luis Figueredo

@inproceedings{huang2026contactsafe,
  title={Contact-Safe Reinforcement Learning with ProMP Reparameterization and Energy Awareness},
  author={Huang, Bingkun and Gong, Yuhe and Yang, Zewen and Ren, Tianyu and Figueredo, Luis},
  booktitle={2026 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={10219--10226},
  year={2026},
  doi={10.1109/ICRA57385.2026.11696807}
}

GeoFIK: A Fast and Reliable Geometric Solver for the IK of the Franka Arm based on Screw Theory Enabling Multiple Redundancy Parameters

Pablo C. Lopez-Custodio, Yuhe Gong, Luis Figueredo

@inproceedings{lopez2026geofik,
  title={GeoFIK: A Fast and Reliable Geometric Solver for the IK of the Franka Arm Based on Screw Theory Enabling Multiple Redundancy Parameters},
  author={L{\'o}pez-Custodio, Pablo and Gong, Yuhe and Figueredo, Luis},
  booktitle={2026 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={22452--22459},
  year={2026},
  doi={10.1109/ICRA57385.2026.11696741}
}

GeoPF: Infusing Geometry into Potential Fields for Reactive Planning in Non-trivial Environments

Yuhe Gong, Riddhiman Laha, Luis Figueredo

@article{gong2025geopf,
  title={GeoPF: Infusing Geometry into Potential Fields for Reactive Planning in Non-trivial Environments},
  author={Gong, Yuhe and Laha, Riddhiman and Figueredo, Luis},
  journal={IEEE Robotics and Automation Letters},
  volume={10},
  number={11},
  pages={11546--11553},
  year={2025},
  publisher={IEEE},
  doi={10.1109/LRA.2025.3609237}
}

Manipulability Transfer and Tracking Control: Bridging Domain Adaptation with Predictive Feasibility

Yuhe Gong, Hao Xing, Guo Yu, Luis Figueredo

@inproceedings{gong2025manipulability,
  title={Manipulability Transfer and Tracking Control: Bridging Domain Adaptation with Predictive Feasibility},
  author={Gong, Yuhe and Xing, Hao and Yu, Guo and Figueredo, Luis},
  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={4572--4578},
  year={2025},
  organization={IEEE}
}

Demonstration to Adaptation: A User-Guided Framework for Sequential and Real-Time Planning

Kuanqi Cai, Riddhiman Laha, Yuhe Gong, Lingyun Chen, Liding Zhang, Luis Figueredo, Sami Haddadin

@inproceedings{cai2024demonstration,
  title={Demonstration to Adaptation: A User-Guided Framework for Sequential and Real-Time Planning},
  author={Cai, Kuanqi and Laha, Riddhiman and Gong, Yuhe and Chen, Lingyun and Zhang, Liding and Figueredo, Luis and Haddadin, Sami},
  booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={9871--9878},
  year={2024},
  organization={IEEE}
}

Geometric-Aware Representations: Structured priors, metrics, constraints, and groundings for Manipulation