Publications

KineDepth: Utilizing Robot Kinematics for Online Metric Depth Estimation
In Submission
Soofiyan Atar, Yuheng Zhi, Florian Richter, Michael Yip
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KineDepth: Utilizing Robot Kinematics for Online Metric Depth Estimation
SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning
In Submission
Yun-Jie Ho, Zih-Yun Chiu, Yuheng Zhi, Michael C Yip
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SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
IROS 2024
Nikhil U Shinde, Zih-Yun Chiu, Florian Richter, Jason Lim, Yuheng Zhi, Sylvia Herbert, Michael C Yip
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SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
SemHint-MD: Learning from Noisy Semantic Labels for Self-Supervised Monocular Depth Estimation
Preprint
Shan Lin, Yuheng Zhi, Michael C Yip
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SemHint-MD: Learning from Noisy Semantic Labels for Self-Supervised Monocular Depth Estimation
Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario
IROS 2023
Elizabeth Peiros, Zih-Yun Chiu, Yuheng Zhi, Nikhil Shinde, Michael C Yip
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Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario
DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-Class Labels for Safety-Aware Trajectory Optimization
T-RO 2022
Yuheng Zhi, Nikhil Das, Michael Yip
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DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-Class Labels for Safety-Aware Trajectory Optimization
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
RA-L 2022
Mrinal Verghese, Nikhil Das, Yuheng Zhi, Michael Yip
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Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Data-driven Actuator Selection for Artificial Muscle-Powered Robots
ICRA 2021
Taylor West Henderson, Yuheng Zhi, Angela Liu, Michael C Yip
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Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Visual Feedback in Telesurgery
ICRA 2019
Florian Richter, Yifei Zhang, Yuheng Zhi, Ryan K Orosco, Michael C Yip
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Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Visual Feedback in Telesurgery
Structure Guided Photorealistic Style Transfer
MM 2018
Yuheng Zhi, Huawei Wei, Bingbing Ni
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Structure Guided Photorealistic Style Transfer