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Michael C. Yip

Mike C. Yip

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affiliation: University of California at San Diego, CA, USA

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2024
[j34]
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Adam Schmidt, Omid Mohareri, Simon P. DiMaio, Michael C. Yip, Septimiu E. Salcudean:
Tracking and mapping in medical computer vision: A review. Medical Image Anal. 94: 103131 (2024)
2023
[j33]
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Fei Liu, Entong Su, Jingpei Lu, Mingen Li, Michael C. Yip:
Robotic Manipulation of Deformable Rope-Like Objects Using Differentiable Compliant Position-Based Dynamics. IEEE Robotics Autom. Lett. 8(7): 3964-3971 (2023)
[j32]
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Jacob J. Johnson, Ahmed H. Qureshi, Michael C. Yip:
Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning With Transformers. IEEE Robotics Autom. Lett. 8(12): 7946-7953 (2023)
[j31]
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Xiao Liang, Shan Lin, Fei Liu, Dimitri A. Schreiber, Michael C. Yip:
ORRN: An ODE-Based Recursive Registration Network for Deformable Respiratory Motion Estimation With Lung 4DCT Images. IEEE Trans. Biomed. Eng. 70(12): 3265-3276 (2023)
2022
[j30]
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Mrinal Verghese, Nikhil Das, Yuheng Zhi, Michael C. Yip:
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control. IEEE Robotics Autom. Lett. 7(2): 3811-3818 (2022)
[j29]
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Jingpei Lu, Florian Richter, Michael C. Yip:
Pose Estimation for Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer. IEEE Robotics Autom. Lett. 7(2): 4622-4629 (2022)
[j28]
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Florian Richter, Peter V. Gavrilov, Hoi Man Lam, Amir Degani, Michael C. Yip:
ARCSnake: Reconfigurable Snakelike Robot With Archimedean Screw Propulsion for Multidomain Mobility. IEEE Trans. Robotics 38(2): 797-809 (2022)
[j27]
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Ahmed Hussain Qureshi, Jiangeng Dong, Asfiya Baig, Michael C. Yip:
Constrained Motion Planning Networks X. IEEE Trans. Robotics 38(2): 868-886 (2022)
[j26]
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Florian Richter, Jingpei Lu, Ryan K. Orosco, Michael C. Yip:
Robotic Tool Tracking Under Partially Visible Kinematic Chain: A Unified Approach. IEEE Trans. Robotics 38(3): 1653-1670 (2022)
[j25]
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Yuheng Zhi, Nikhil Das, Michael C. Yip:
DiffCo: Autodifferentiable Proxy Collision Detection With Multiclass Labels for Safety-Aware Trajectory Optimization. IEEE Trans. Robotics 38(5): 2668-2685 (2022)
[j24]
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Thai P. Duong, Michael C. Yip, Nikolay Atanasov:
Autonomous Navigation in Unknown Environments With Sparse Bayesian Kernel-Based Occupancy Mapping. IEEE Trans. Robotics 38(6): 3694-3712 (2022)
2021
[j23]
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Nikhil Das, Michael C. Yip:
Stochastic Modeling of Distance to Collision for Robot Manipulators. IEEE Robotics Autom. Lett. 6(1): 207-214 (2021)
[j22]
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Florian Richter, Shihao Shen, Fei Liu, Jingbin Huang, Emily K. Funk, Ryan K. Orosco, Michael C. Yip:
Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis Using Image-Based Blood Flow Detection. IEEE Robotics Autom. Lett. 6(2): 1383-1390 (2021)
[j21]
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Linjun Li, Yinglong Miao, Ahmed H. Qureshi, Michael C. Yip:
MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning Under Kinodynamic Constraints. IEEE Robotics Autom. Lett. 6(3): 4496-4503 (2021)
[j20]
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Ahmed Hussain Qureshi, Yinglong Miao, Anthony Simeonov, Michael C. Yip:
Motion Planning Networks: Bridging the Gap Between Learning-Based and Classical Motion Planners. IEEE Trans. Robotics 37(1): 48-66 (2021)
2020
[j19]
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Yang Li, Florian Richter, Jingpei Lu, Emily K. Funk, Ryan K. Orosco, Jianke Zhu, Michael C. Yip:
SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation With Surgical Robotics. IEEE Robotics Autom. Lett. 5(2): 2294-2301 (2020)
[j18]
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Nikhil Das, Michael C. Yip:
Forward Kinematics Kernel for Improved Proxy Collision Checking. IEEE Robotics Autom. Lett. 5(2): 2349-2356 (2020)
[j17]
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Brian Wilcox, Michael C. Yip:
SOLAR-GP: Sparse Online Locally Adaptive Regression Using Gaussian Processes for Bayesian Robot Model Learning and Control. IEEE Robotics Autom. Lett. 5(2): 2832-2839 (2020)
[j16]
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Winnie Kuang, Michael C. Yip, Jun Zhang:
Vibration-Based Multi-Axis Force Sensing: Design, Characterization, and Modeling. IEEE Robotics Autom. Lett. 5(2): 3082-3089 (2020)
[j15]
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Ahmed H. Qureshi, Jiangeng Dong, Austin Choe, Michael C. Yip:
Neural Manipulation Planning on Constraint Manifolds. IEEE Robotics Autom. Lett. 5(4): 6089-6096 (2020)
[j14]
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Nikhil Das, Michael C. Yip:
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications. IEEE Trans. Robotics 36(4): 1096-1114 (2020)
2019
[j13]
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Jun Zhang, Jun Sheng, Ciarán T. O'Neill, Conor J. Walsh, Robert J. Wood, Jee-Hwan Ryu, Jaydev P. Desai, Michael C. Yip:
Robotic Artificial Muscles: Current Progress and Future Perspectives. IEEE Trans. Robotics 35(3): 761-781 (2019)
2018
[j12]
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Anthony Simeonov, Taylor Henderson, Zixuan Lan, Guhan Sundar, Adam Factor, Jun Zhang, Michael C. Yip:
Bundled Super-Coiled Polymer Artificial Muscles: Design, Characterization, and Modeling. IEEE Robotics Autom. Lett. 3(3): 1671-1678 (2018)
[j11]
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Nazim Haouchine, Winnie Kuang, Stephane Cotin, Michael C. Yip:
Vision-Based Force Feedback Estimation for Robot-Assisted Surgery Using Instrument-Constrained Biomechanical Three-Dimensional Maps. IEEE Robotics Autom. Lett. 3(3): 2160-2165 (2018)
2017
[j10]
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Michael C. Yip, Jake Sganga, David B. Camarillo:
Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks. J. Medical Robotics Res. 2(1): 1750002:1-1750002:13 (2017)
[j9]
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Jun Zhang, Kaushik Iyer, Anthony Simeonov, Michael C. Yip:
Modeling and Inverse Compensation of Hysteresis in Supercoiled Polymer Artificial Muscles. IEEE Robotics Autom. Lett. 2(2): 773-780 (2017)
[j8]
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Michael C. Yip, Jonas Forsslund:
Spurring Innovation in Spatial Haptics: How Open-Source Hardware Can Turn Creativity Loose. IEEE Robotics Autom. Mag. 24(1): 65-76 (2017)
[j7]
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Michael C. Yip, Günter Niemeyer:
On the Control and Properties of Supercoiled Polymer Artificial Muscles. IEEE Trans. Robotics 33(3): 689-699 (2017)
2016
[j6]
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Michael C. Yip, David B. Camarillo:
Model-Less Hybrid Position/Force Control: A Minimalist Approach for Continuum Manipulators in Unknown, Constrained Environments. IEEE Robotics Autom. Lett. 1(2): 844-851 (2016)
2014
[j5]
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Michael C. Yip, David B. Camarillo:
Model-Less Feedback Control of Continuum Manipulators in Constrained Environments. IEEE Trans. Robotics 30(4): 880-889 (2014)
2012
[j4]
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Troy K. Adebar, Michael C. Yip, Septimiu E. Salcudean, Robert Rohling, Christopher Y. Nguan, Larry Goldenberg:
Registration of 3D Ultrasound Through an Air-Tissue Boundary. IEEE Trans. Medical Imaging 31(11): 2133-2142 (2012)
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Michael C. Yip, David G. Lowe, Septimiu E. Salcudean, Robert Rohling, Christopher Y. Nguan:
Tissue Tracking and Registration for Image-Guided Surgery. IEEE Trans. Medical Imaging 31(11): 2169-2182 (2012)
2011
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Michael C. Yip, Mahdi Tavakoli, Robert D. Howe:
Performance Analysis of a Haptic Telemanipulation Task under Time Delay. Adv. Robotics 25(5): 651-673 (2011)
2010
[j1]
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Michael C. Yip, Shelten G. Yuen, Robert D. Howe:
A Robust Uniaxial Force Sensor for Minimally Invasive Surgery. IEEE Trans. Biomed. Eng. 57(5): 1008-1011 (2010)

Conference and Workshop Papers

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2023
[c43]
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Nikhil U. Shinde, Jacob J. Johnson, Sylvia L. Herbert, Michael C. Yip:
Object-Centric Representations for Interactive Online Learning with Non-Parametric Methods. CASE 2023: 1-6
[c42]
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Jingpei Lu, Florian Richter, Michael C. Yip:
Markerless Camera-to-Robot Pose Estimation via Self-Supervised Sim-to-Real Transfer. CVPR 2023: 21296-21306
[c41]
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Jingpei Lu, Fei Liu, Cédric Girerd, Michael C. Yip:
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering. ICRA 2023: 560-567
[c40]
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Shan Lin, Albert J. Miao, Jingpei Lu, Shunkai Yu, Zih-Yun Chiu, Florian Richter, Michael C. Yip:
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking. ICRA 2023: 4739-4746
[c39]
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Neelay Joglekar, Fei Liu, Ryan K. Orosco, Michael C. Yip:
Suture Thread Spline Reconstruction from Endoscopic Images for Robotic Surgery with Reliability-driven Keypoint Detection. ICRA 2023: 4747-4753
[c38]
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Zih-Yun Chiu, Florian Richter, Michael C. Yip:
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery. ICRA 2023: 4761-4767
[c37]
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Jason Lim, Calvin Joyce, Elizabeth Peiros, Mingwei Yeoh, Peter V. Gavrilov, Sara G. Wickenhiser, Dimitri A. Schreiber, Florian Richter, Michael C. Yip:
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media. ICRA 2023: 7317-7323
[c36]
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Hoi Man Lam, W. Jared Walker, Lucas Jonasch, Dimitri A. Schreiber, Michael C. Yip:
Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion. ICRA 2023: 7338-7344
[c35]
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Elizabeth Peiros, Zih-Yun Chiu, Yuheng Zhi, Nikhil Shinde, Michael C. Yip:
Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario. IROS 2023: 167-173
[c34]
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Zih-Yun Chiu, Yi-Lin Tuan, William Yang Wang, Michael C. Yip:
Flexible Attention-Based Multi-Policy Fusion for Efficient Deep Reinforcement Learning. NeurIPS 2023
2022
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Florian Richter, Ryan K. Orosco, Michael C. Yip:
Image Based Reconstruction of Liquids from 2D Surface Detections. CVPR 2022: 13801-13810
[c32]
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Dimitri A. Schreiber, Zhaowei Yu, Hanpeng Jiang, Taylor Henderson, Guosong Li, Julie Yu, Renjie Zhu, Alexander M. Norbash, Michael C. Yip:
CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores. ICRA 2022: 5487-5494
[c31]
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Zih-Yun Chiu, Albert Z. Liao, Florian Richter, Bjorn Johnson, Michael C. Yip:
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery. IROS 2022: 5286-5292
2021
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Jacob J. Johnson, Michael C. Yip:
Chance-Constrained Motion Planning using Modeled Distance- to-Collision Functions. CASE 2021: 1582-1589
[c29]
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Taylor West Henderson, Yuheng Zhi, Angela Liu, Michael C. Yip:
Data-driven Actuator Selection for Artificial Muscle-Powered Robots. ICRA 2021: 1783-1789
[c28]
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Jingpei Lu, Ambareesh Jayakumari, Florian Richter, Yang Li, Michael C. Yip:
SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction. ICRA 2021: 4783-4789
[c27]
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Zih-Yun Chiu, Florian Richter, Emily K. Funk, Ryan K. Orosco, Michael C. Yip:
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning. ICRA 2021: 7737-7743
[c26]
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Mingwei Xu, James Di, Nikhil Das, Michael C. Yip:
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery. ICRA 2021: 9752-9758
[c25]
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Fei Liu, Zihan Li, Yunhai Han, Jingpei Lu, Florian Richter, Michael C. Yip:
Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy. ICRA 2021: 12328-12334
[c24]
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Jingbin Huang, Fei Liu, Florian Richter, Michael C. Yip:
Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations. ICRA 2021: 12380-12386
[c23]
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Florian Richter, Emily K. Funk, Won Seo Park, Ryan K. Orosco, Michael C. Yip:
From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling. ISMR 2021: 1-7
[c22]
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Ahmed Hussain Qureshi, Arsalan Mousavian, Chris Paxton, Michael C. Yip, Dieter Fox:
NeRP: Neural Rearrangement Planning for Unknown Objects. Robotics: Science and Systems 2021
2020
[c21]
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Ahmed Hussain Qureshi, Jacob J. Johnson, Yuzhe Qin, Taylor Henderson, Byron Boots, Michael C. Yip:
Composing Task-Agnostic Policies with Deep Reinforcement Learning. ICLR 2020
[c20]
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Dimitri A. Schreiber, Florian Richter, Andrew Bilan, Peter V. Gavrilov, Hoi Man Lam, Casey H. Price, Kalind C. Carpenter, Michael C. Yip:
ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Serpentine Robot for Complex Environments. ICRA 2020: 7029-7034
[c19]
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Thai P. Duong, Nikhil Das, Michael C. Yip, Nikolay Atanasov:
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping. ICRA 2020: 9666-9672
[c18]
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  - conf/iros/JohnsonLLQY20
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Jacob J. Johnson, Linjun Li, Fei Liu, Ahmed Hussain Qureshi, Michael C. Yip:
Dynamically Constrained Motion Planning Networks for Non-Holonomic Robots. IROS 2020: 6937-6943
2019
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Ahmed Hussain Qureshi, Byron Boots, Michael C. Yip:
Adversarial Imitation via Variational Inverse Reinforcement Learning. ICLR (Poster) 2019
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Florian Richter, Yifei Zhang, Yuheng Zhi, Ryan K. Orosco, Michael C. Yip:
Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Telesurgery. ICRA 2019: 444-450
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Florian Richter, Ryan K. Orosco, Michael C. Yip:
Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation. ICRA 2019: 1590-1595
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Ahmed Hussain Qureshi, Anthony Simeonov, Mayur J. Bency, Michael C. Yip:
Motion Planning Networks. ICRA 2019: 2118-2124
[c13]
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Dimitri A. Schreiber, Daniel B. Shak, Alexander M. Norbash, Michael C. Yip:
An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners. IROS 2019: 386-393
[c12]
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Mayur J. Bency, Ahmed Hussain Qureshi, Michael C. Yip:
Neural Path Planning: Fixed Time, Near-Optimal Path Generation via Oracle Imitation. IROS 2019: 3965-3972
[c11]
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Mrinal Verghese, Florian Richter, Aaron Gunn, Phil Weissbrod, Michael C. Yip:
Model-Free Visual Control for Continuum Robot Manipulators via Orientation Adaptation. ISRR 2019: 959-970
2018
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Ahmed Hussain Qureshi, Michael C. Yip:
Deeply Informed Neural Sampling for Robot Motion Planning. IROS 2018: 6582-6588
2017
[c9]
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Nikhil Das, Naman Gupta, Michael C. Yip:
Fastron: An Online Learning-Based Model and Active Learning Strategy for Proxy Collision Detection. CoRL 2017: 496-504
[c8]
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Jun Zhang, Michael C. Yip:
Three-Dimensional Hysteresis Modeling of Robotic Artificial Muscles with Application to Shape Memory Alloy Actuators. Robotics: Science and Systems 2017
2015
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Michael C. Yip, Günter Niemeyer:
High-performance robotic muscles from conductive nylon sewing thread. ICRA 2015: 2313-2318
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Jonas Forsslund, Michael C. Yip, Eva-Lotta Sallnäs:
WoodenHaptics: A Starting Kit for Crafting Force-Reflecting Spatial Haptic Devices. TEI 2015: 133-140
2013
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Omid Mohareri, Caitlin Schneider, Troy K. Adebar, Mike C. Yip, Peter C. Black, Christopher Y. Nguan, Dale Bergman, Jonathan Seroger, Simon P. DiMaio, Septimiu E. Salcudean:
Ultrasound-Based Image Guidance for Robot-Assisted Laparoscopic Radical Prostatectomy: Initial in-vivo Results. IPCAI 2013: 40-50
2012
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Michael C. Yip, David G. Lowe, Septimiu E. Salcudean, Robert Rohling, Christopher Y. Nguan:
Real-Time Methods for Long-Term Tissue Feature Tracking in Endoscopic Scenes. IPCAI 2012: 33-43
2010
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Michael C. Yip, Mahdi Tavakoli, Robert D. Howe:
Performance analysis of a manipulation task in time-delayed teleoperation. IROS 2010: 5270-5275
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Michael C. Yip, Troy K. Adebar, Robert Rohling, Septimiu E. Salcudean, Christopher Y. Nguan:
3D Ultrasound to Stereoscopic Camera Registration through an Air-Tissue Boundary. MICCAI (2) 2010: 626-634
2009
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Shelten G. Yuen, Michael C. Yip, Nikolay V. Vasilyev, Douglas P. Perrin, Pedro J. del Nido, Robert D. Howe:
Robotic Force Stabilization for Beating Heart Intracardiac Surgery. MICCAI (1) 2009: 26-33

Informal and Other Publications

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2024
[i76]
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Dimitrious Schreiber, Zhaowei Yu, Taylor Henderson, Derek Chen, Alexander Norbasha, Michael C. Yip:
CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore. CoRR abs/2402.02708 (2024)
[i75]
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  - journals/corr/abs-2403-04971
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Christopher D'Ambrosia, Florian Richter, Zih-Yun Chiu, Nikhil Shinde, Fei Liu, Henrik I. Christensen, Michael C. Yip:
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives. CoRR abs/2403.04971 (2024)
[i74]
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  - journals/corr/abs-2403-16286
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Albert J. Miao, Shan Lin, Jingpei Lu, Florian Richter, Benjamin Ostrander, Emily K. Funk, Ryan K. Orosco, Michael C. Yip:
HemoSet: The First Blood Segmentation Dataset for Automation of Hemostasis Management. CoRR abs/2403.16286 (2024)
[i73]
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  - journals/corr/abs-2404-00123
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Nikhil U. Shinde, Zih-Yun Chiu, Florian Richter, Jason Lim, Yuheng Zhi, Sylvia L. Herbert, Michael C. Yip:
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation. CoRR abs/2404.00123 (2024)
[i72]
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  - journals/corr/abs-2405-09743
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Nikhil Uday Shinde, Xiao Liang, Fei Liu, Yutong Zhang, Florian Richter, Sylvia L. Herbert, Michael C. Yip:
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments. CoRR abs/2405.09743 (2024)
2023
[i71]
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  - journals/corr/abs-2301-10878
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Jason Lim, Calvin Joyce, Elizabeth Peiros, Mingwei Yeoh, Peter V. Gavrilov, Sara G. Wickenhiser, Dimitri A. Schreiber, Florian Richter, Michael C. Yip:
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media. CoRR abs/2301.10878 (2023)
[i70]
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  - journals/corr/abs-2302-12458
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Hoi Man Lam, W. Jared Walker, Lucas Jonasch, Dimitri A. Schreiber, Michael C. Yip:
Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion. CoRR abs/2302.12458 (2023)
[i69]
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  - journals/corr/abs-2302-14039
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Jingpei Lu, Fei Liu, Cedric Girerd, Michael C. Yip:
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering. CoRR abs/2302.14039 (2023)
[i68]
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  - journals/corr/abs-2302-14332
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Jingpei Lu, Florian Richter, Michael C. Yip:
Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer. CoRR abs/2302.14332 (2023)
[i67]
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  - journals/corr/abs-2303-18219
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Shan Lin, Yuheng Zhi, Michael C. Yip:
SemHint-MD: Learning from Noisy Semantic Labels for Self-Supervised Monocular Depth Estimation. CoRR abs/2303.18219 (2023)
[i66]
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  - journals/corr/abs-2305-14673
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Xiao Liang, Shan Lin, Fei Liu, Dimitri A. Schreiber, Michael C. Yip:
ORRN: An ODE-based Recursive Registration Network for Deformable Respiratory Motion Estimation with Lung 4DCT Images. CoRR abs/2305.14673 (2023)
[i65]
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  - journals/corr/abs-2306-00851
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Jacob J. Johnson, Ahmed Hussain Qureshi, Michael C. Yip:
Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning with Transformers. CoRR abs/2306.00851 (2023)
[i64]
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  - journals/corr/abs-2306-04166
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Sainan Liu, Shan Lin, Jingpei Lu, Shreya Saha, Alexey Supikov, Michael C. Yip:
BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives. CoRR abs/2306.04166 (2023)
[i63]
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  - journals/corr/abs-2307-10063
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Nikhil U. Shinde, Jacob J. Johnson, Sylvia L. Herbert, Michael C. Yip:
Object-centric Representations for Interactive Online Learning with Non-Parametric Methods. CoRR abs/2307.10063 (2023)
[i62]
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  - journals/corr/abs-2307-11259
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Nikhil U. Shinde, Florian Richter, Michael C. Yip:
Towards Non-Parametric Models for Confidence Aware Image Prediction from Low Data using Gaussian Processes. CoRR abs/2307.11259 (2023)
[i61]
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  - journals/corr/abs-2309-08134
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Fangbo Qin, Taogang Hou, Shan Lin, Kaiyuan Wang, Michael C. Yip, Shan Yu:
AnyOKP: One-Shot and Instance-Aware Object Keypoint Extraction with Pretrained ViT. CoRR abs/2309.08134 (2023)
[i60]
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  - journals/corr/abs-2309-11655
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Yutong Zhang, Fei Liu, Xiao Liang, Michael C. Yip:
Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints. CoRR abs/2309.11655 (2023)
[i59]
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Xiao Liang, Fei Liu, Yutong Zhang, Yuelei Li, Shan Lin, Michael C. Yip:
Real-to-Sim Deformable Object Manipulation: Optimizing Physics Models with Residual Mappings for Robotic Surgery. CoRR abs/2309.11656 (2023)
[i58]
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  - journals/corr/abs-2309-13863
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Shan Lin, Albert J. Miao, Ali Alabiad, Fei Liu, Kaiyuan Wang, Jingpei Lu, Florian Richter, Michael C. Yip:
SuPerPM: A Large Deformation-Robust Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data. CoRR abs/2309.13863 (2023)
[i57]
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  - journals/corr/abs-2309-15265
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Elizabeth Peiros, Zih-Yun Chiu, Yuheng Zhi, Nikhil Shinde, Michael C. Yip:
Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario. CoRR abs/2309.15265 (2023)
[i56]
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  - journals/corr/abs-2309-15272
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Jacob J. Johnson, Ahmed Hussain Qureshi, Michael C. Yip:
Zero-Shot Constrained Motion Planning Transformers Using Learned Sampling Dictionaries. CoRR abs/2309.15272 (2023)
[i55]
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  - journals/corr/abs-2309-15329
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Shreya Saha, Sainan Liu, Shan Lin, Jingpei Lu, Michael C. Yip:
BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields. CoRR abs/2309.15329 (2023)
[i54]
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  - journals/corr/abs-2309-15700
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Jingpei Lu, Florian Richter, Shan Lin, Michael C. Yip:
Tracking Snake-like Robots in the Wild Using Only a Single Camera. CoRR abs/2309.15700 (2023)
[i53]
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  - journals/corr/abs-2310-00184
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Calvin Joyce, Jason Lim, Roger Nguyen, Michael Owens, Sara G. Wickenhiser, Elizabeth Peiros, Florian Richter, Michael C. Yip:
NASU - Novel Actuating Screw Unit: Origami-inspired Screw-based Propulsion on Mobile Ground Robots. CoRR abs/2310.00184 (2023)
[i52]
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  - journals/corr/abs-2310-11475
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Adam Schmidt, Omid Mohareri, Simon P. DiMaio, Michael C. Yip, Septimiu E. Salcudean:
Tracking and Mapping in Medical Computer Vision: A Review. CoRR abs/2310.11475 (2023)
2022
[i51]
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  - journals/corr/abs-2201-04314
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Mrinal Verghese, Nikhil Das, Yuheng Zhi, Michael C. Yip:
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control. CoRR abs/2201.04314 (2022)
[i50]
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Fei Liu, Mingen Li, Jingpei Lu, Entong Su, Michael C. Yip:
Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics. CoRR abs/2201.05753 (2022)
[i49]
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Fei Liu, Entong Su, Jingpei Lu, Mingen Li, Michael C. Yip:
Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics. CoRR abs/2202.09714 (2022)
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Neelay Joglekar, Fei Liu, Michael C. Yip:
Suture Thread Spline Reconstruction from Endoscopic Images for Robotic Surgery with Reliability-driven Keypoint Detection. CoRR abs/2209.13657 (2022)
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Zih-Yun Chiu, Yi-Lin Tuan, William Yang Wang, Michael C. Yip:
Knowledge-Grounded Reinforcement Learning. CoRR abs/2210.03729 (2022)
[i46]
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  - journals/corr/abs-2210-11973
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Zih-Yun Chiu, Florian Richter, Michael C. Yip:
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery. CoRR abs/2210.11973 (2022)
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  - journals/corr/abs-2210-16674
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Shan Lin, Albert J. Miao, Jingpei Lu, Shunkai Yu, Zih-Yun Chiu, Florian Richter, Michael C. Yip:
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Classification, Reconstruction, and Tracking. CoRR abs/2210.16674 (2022)
2021
[i44]
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  - journals/corr/abs-2101-06798
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Linjun Li, Yinglong Miao, Ahmed Hussain Qureshi, Michael C. Yip:
MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning under Kinodynamic Constraints. CoRR abs/2101.06798 (2021)
[i43]
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  - journals/corr/abs-2102-01436
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Jingbin Huang, Fei Liu, Florian Richter, Michael C. Yip:
Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations. CoRR abs/2102.01436 (2021)
[i42]
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  - journals/corr/abs-2102-06235
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Florian Richter, Jingpei Lu, Ryan K. Orosco, Michael C. Yip:
Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach. CoRR abs/2102.06235 (2021)
[i41]
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Yuheng Zhi, Nikhil Das, Michael C. Yip:
DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-class Labels for Safety-Aware Trajectory Optimization. CoRR abs/2102.07413 (2021)
[i40]
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James Di, Mingwei Xu, Nikhil Das, Michael C. Yip:
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery. CoRR abs/2104.06348 (2021)
[i39]
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Taylor West Henderson, Yuheng Zhi, Angela Liu, Michael C. Yip:
Data-driven Actuator Selection for Artificial Muscle-Powered Robots. CoRR abs/2104.07168 (2021)
[i38]
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Ahmed Hussain Qureshi, Arsalan Mousavian, Chris Paxton, Michael C. Yip, Dieter Fox:
NeRP: Neural Rearrangement Planning for Unknown Objects. CoRR abs/2106.01352 (2021)
[i37]
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Jacob J. Johnson, Linjun Li, Ahmed Hussain Qureshi, Michael C. Yip:
Motion Planning Transformers: One Model to Plan Them All. CoRR abs/2106.02791 (2021)
[i36]
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  - journals/corr/abs-2107-10953
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Jacob J. Johnson, Michael C. Yip:
Chance-Constrained Motion Planning using Modeled Distance-to-Collision Functions. CoRR abs/2107.10953 (2021)
[i35]
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  - journals/corr/abs-2107-14427
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Florian Richter, Peter V. Gavrilov, Hoi Man Lam, Amir Degani, Michael C. Yip:
ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility. CoRR abs/2107.14427 (2021)
[i34]
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  - journals/corr/abs-2109-12177
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Florian Richter, Emily K. Funk, Won Seo Park, Ryan K. Orosco, Michael C. Yip:
From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling. CoRR abs/2109.12177 (2021)
[i33]
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  - journals/corr/abs-2109-12722
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Zih-Yun Chiu, Albert Z. Liao, Florian Richter, Bjorn Johnson, Michael C. Yip:
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery. CoRR abs/2109.12722 (2021)
[i32]
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  - journals/corr/abs-2109-13407
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Dimitri A. Schreiber, Zhaowei Yu, Hanpeng Jiang, Alexander M. Norbash, Michael C. Yip:
CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores. CoRR abs/2109.13407 (2021)
[i31]
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  - journals/corr/abs-2111-11491
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Florian Richter, Ryan K. Orosco, Michael C. Yip:
Image Based Reconstruction of Liquids from 2D Surface Detections. CoRR abs/2111.11491 (2021)
2020
[i30]
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  - journals/corr/abs-2002-01921
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Thai P. Duong, Nikhil Das, Michael C. Yip, Nikolay Atanasov:
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping. CoRR abs/2002.01921 (2020)
[i29]
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  - journals/corr/abs-2003-03472
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Jingpei Lu, Ambareesh Jayakumari, Florian Richter, Yang Li, Michael C. Yip:
SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction. CoRR abs/2003.03472 (2020)
[i28]
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  - journals/corr/abs-2005-14391
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Nikhil Das, Michael C. Yip:
Stochastic Modeling of Distance to Collision for Robot Manipulators. CoRR abs/2005.14391 (2020)
[i27]
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  - journals/corr/abs-2008-03787
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Ahmed Hussain Qureshi, Jiangeng Dong, Austin Choe, Michael C. Yip:
Neural Manipulation Planning on Constraint Manifolds. CoRR abs/2008.03787 (2020)
[i26]
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  - journals/corr/abs-2008-05112
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Jacob J. Johnson, Linjun Li, Fei Liu, Ahmed Hussain Qureshi, Michael C. Yip:
Dynamically Constrained Motion Planning Networks for Non-Holonomic Robots. CoRR abs/2008.05112 (2020)
[i25]
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  - journals/corr/abs-2009-07207
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Thai P. Duong, Michael C. Yip, Nikolay Atanasov:
Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping. CoRR abs/2009.07207 (2020)
[i24]
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  - journals/corr/abs-2010-08054
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Jingpei Lu, Florian Richter, Michael C. Yip:
Robust Keypoint Detection and Pose Estimation of Robot Manipulators with Self-Occlusions via Sim-to-Real Transfer. CoRR abs/2010.08054 (2020)
[i23]
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  - journals/corr/abs-2010-08441
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Florian Richter, Shihao Shen, Fei Liu, Jingbin Huang, Emily K. Funk, Ryan K. Orosco, Michael C. Yip:
Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection. CoRR abs/2010.08441 (2020)
[i22]
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  - journals/corr/abs-2010-08707
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Ahmed Hussain Qureshi, Jiangeng Dong, Asfiya Baig, Michael C. Yip:
Constrained Motion Planning Networks X. CoRR abs/2010.08707 (2020)
[i21]
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  - journals/corr/abs-2010-13936
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Yunhai Han, Fei Liu, Michael C. Yip:
A 2D Surgical Simulation Framework for Tool-Tissue Interaction. CoRR abs/2010.13936 (2020)
[i20]
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  - journals/corr/abs-2011-00800
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Fei Liu, Zihan Li, Yunhai Han, Jingpei Lu, Florian Richter, Michael C. Yip:
Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy. CoRR abs/2011.00800 (2020)
[i19]
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  - journals/corr/abs-2011-04813
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Zih-Yun Chiu, Florian Richter, Emily K. Funk, Ryan K. Orosco, Michael C. Yip:
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning. CoRR abs/2011.04813 (2020)
2019
[i18]
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  - journals/corr/abs-1902-03290
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Florian Richter, Ryan K. Orosco, Michael C. Yip:
Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation. CoRR abs/1902.03290 (2019)
[i17]
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  - journals/corr/abs-1902-08164
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Nikhil Das, Michael C. Yip:
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications. CoRR abs/1902.08164 (2019)
[i16]
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  - journals/corr/abs-1903-02090
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Florian Richter, Ryan K. Orosco, Michael C. Yip:
Open-Sourced Reinforcement Learning Environments for Surgical Robotics. CoRR abs/1903.02090 (2019)
[i15]
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  - journals/corr/abs-1903-04646
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Dimitri A. Schreiber, Daniel B. Shak, Alexander M. Norbash, Michael C. Yip:
An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners. CoRR abs/1903.04646 (2019)
[i14]
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  - journals/corr/abs-1904-11102
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Mayur J. Bency, Ahmed Hussain Qureshi, Michael C. Yip:
Neural Path Planning: Fixed Time, Near-Optimal Path Generation via Oracle Imitation. CoRR abs/1904.11102 (2019)
[i13]
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  - journals/corr/abs-1905-10681
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Ahmed Hussain Qureshi, Jacob J. Johnson, Yuzhe Qin, Byron Boots, Michael C. Yip:
Composing Ensembles of Policies with Deep Reinforcement Learning. CoRR abs/1905.10681 (2019)
[i12]
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  - journals/corr/abs-1907-06013
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Ahmed Hussain Qureshi, Yinglong Miao, Anthony Simeonov, Michael C. Yip:
Motion Planning Networks: Bridging the Gap Between Learning-based and Classical Motion Planners. CoRR abs/1907.06013 (2019)
[i11]
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  - journals/corr/abs-1909-00450
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Mrinal Verghese, Florian Richter, Aaron Gunn, Phil Weissbrod, Michael C. Yip:
Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation. CoRR abs/1909.00450 (2019)
[i10]
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  - journals/corr/abs-1909-05405
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Yang Li, Florian Richter, Jingpei Lu, Emily K. Funk, Ryan K. Orosco, Jianke Zhu, Michael C. Yip:
SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics. CoRR abs/1909.05405 (2019)
[i9]
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  - journals/corr/abs-1909-11641
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Dimitri A. Schreiber, Florian Richter, Andrew Bilan, Peter V. Gavrilov, Casey H. Price, Kalind C. Carpenter, Michael C. Yip:
ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments. CoRR abs/1909.11641 (2019)
[i8]
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  - journals/corr/abs-1910-03063
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Dimitri A. Schreiber, Hanpeng Jiang, Guosong Li, Julie Yu, Zhaowei Yu, Renjie Zhu, Alexander M. Norbash, Michael C. Yip:
CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures. CoRR abs/1910.03063 (2019)
[i7]
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  - journals/corr/abs-1910-06451
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Nikhil Das, Michael C. Yip:
Forward Kinematics Kernel for Improved Proxy Collision Checking. CoRR abs/1910.06451 (2019)
2018
[i6]
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  - journals/corr/abs-1806-05767
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Ahmed Hussain Qureshi, Mayur J. Bency, Michael C. Yip:
Motion Planning Networks. CoRR abs/1806.05767 (2018)
[i5]
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  - journals/corr/abs-1809-06404
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Ahmed Hussain Qureshi, Michael C. Yip:
Adversarial Imitation via Variational Inverse Reinforcement Learning. CoRR abs/1809.06404 (2018)
[i4]
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  - journals/corr/abs-1809-08627
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Florian Richter, Yifei Zhang, Yuheng Zhi, Ryan K. Orosco, Michael C. Yip:
Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Telesurgery. CoRR abs/1809.08627 (2018)
[i3]
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  - journals/corr/abs-1809-10252
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Ahmed Hussain Qureshi, Michael C. Yip:
Deeply Informed Neural Sampling for Robot Motion Planning. CoRR abs/1809.10252 (2018)
2017
[i2]
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  - journals/corr/YipD17
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Michael C. Yip, Nikhil Das:
Robot Autonomy for Surgery. CoRR abs/1707.03080 (2017)
[i1]
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  - journals/corr/abs-1709-02316
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Nikhil Das, Naman Gupta, Michael C. Yip:
Fastron: An Online Learning-Based Model and Active Learning Strategy for Proxy Collision Detection. CoRR abs/1709.02316 (2017)

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