UCSD ADVANCED ROBOTICS AND CONTROLS LAB
COMPLETE CONFERENCE AND JOURNAL PUBLICATIONS
last updated: 3/4/2021
2021
DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-class Labels for Safety-Aware Trajectory Optimization
Zhi, Yuheng, Nikhil Das, Michael Yip
arXiv preprint arXiv:2102.07413, 2021. [pdf]
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning
Z.Y. Chiu, F. Richter, E.K. Funk, R.K. Orosco, M.C. Yip
IEEE Conference on Robotics and Automation (Accepted). Xi'an, China (2021). [arxiv][video]
Real-to-Sim Registration of Deformable Soft-Tissue with Position-Based Dynamics for Surgical Robot Autonomy
F. Liu, Z. Li, Y. Han, J. Lu, F. Richter, M.C. Yip
IEEE Conference on Robotics and Automation (Accepted). Xi'an, China (2021). [arxiv][video]
Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations
J. Huang*, F. Liu*, F. Richter, M.C. Yip
IEEE Conference on Robotics and Automation (Accepted). Xi'an, China (2021). [arxiv][video]
SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction
J. Lu, A. Jayakumari, F. Richter, Y. Li, M.C. Yip
IEEE Conference on Robotics and Automation (Accepted). Xi'an, China (2021). [website][arxiv][video]
Data-driven Actuator Selection for Artificial Muscle-Powered Robots
T. Henderson, Y. Zhi, A. Liu, M.C. Yip
IEEE Conference on Robotics and Automation (Accepted). Xi'an, China (2021). [arxiv][website]
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery
J. Di, M. Xu, N. Das, M.C. Yip
IEEE Conference on Robotics and Automation (Accepted). Xi'an, China (2021). [arxiv][video]
MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning under Kinodynamic Constraints
L. Li, Y.L. Miao, A.H. Qureshi, M.C. Yip
IEEE Robotics and Automation Letters (Accepted), 2020. [website][arxiv][video]
F. Richter, S. Shen, F. Liu, J. Huang, E.K. Funk, R.K. Orosco, M.C. Yip
IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1383-1390. [arxiv][video]
Robust Keypoint Detection and Pose Estimation of Robot Manipulators with Self-Occlusions via Sim-to-Real Transfer
J. Lu, F. Richter, M. C. Yip
arXiv preprint arXiv:2010.08054 [arxiv] [video]
Compensatory motion scaling for time-delayed robotic surgery
R.K. Orosco, B. Lurie, T. Matsuzaki, E.K. Funk, V. Divi, F.C. Holsinger, S. Hong, F. Richter, N. Das, M. C. Yip
Surgical endoscopy, pp. 1-6 [springer]
H. Oh, G.C. Yi, M.C. Yip, S.A. Dayeh
Science Advances, vol. 6, no. 46, eabd7795. [pdf]
2020
Dynamically constrained motion planning networks for non-holonomic robots
J. J. Johnson, L. Li, F. Liu, A. H. Qureshi, and M. C. Yip
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. [video][code]
Neural Manipulation Planning on Constraint Manifolds
A.H. Qureshi, J. Dong, A. Choe, M.C. Yip
IEEE Robotics and Automation Letters. vol. 5, no. 4, pp. 6089 - 6096. [website]
Motion Planning Networks: Bridging the Gap between Learning-based and Classical Planners
A.H Qureshi, Y.L. Miao, A. Simeonov, M.C. Yip
IEEE Transactions on Robotics. Early Access, 2020. [arxiv][website]
Stochastic Modeling of Distance to Collision for Robot Manipulators
N. Das, M.C. Yip
IEEE Robotics and Automation Letters, vol. 6, no. 1, pp. 207-214, 2020. [arxiv]
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications
N.Das, M.C. Yip
IEEE Transactions on Robotics. vol. 36, no. 4, pp.1096-1114, 2020. [arxiv] [video]
ARTEMIS: Mixed-Reality Environment for Immersive Surgical Telementoring
N. Weibel, J. Johnson, T. Sharkey, Z. Robin Xu, E. Zavala, K. Davis, D. Gasques, X. Zhang, M.C. Yip
Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems, 2020.
SOLAR-GP: Sparse, Online, Locally Adaptive Regression using Gaussian Processes for Bayesian Robot Model Learning and Control
B. P. Wilcox, M.C. Yip
IEEE Robotics and Automation Letters. vol. 5, no.2, pp. 2832-2839, 2020. [website]
Vibration-based Multi-Axis Force Sensing: Design, Characterization, and Modeling
W. Kuang, M.C. Yip, J. Zhang
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3082-3089, 2020.
Composing Task-Agnostic Policies with Deep Reinforcement Learning
A.H.Qureshi, J.J. Johnson, Y. Qin, T. Henderson, B. Boots, M.C. Yip
International Conference on Learning Representations- ICLR2020. April 26-30, 2020. Addis Ababa, Ethiopia. (Accepted). [arxiv][website]
Forward Kinematics Kernel for Improved Proxy Collision Checking
N Das, MC Yip
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2349-2356, 2020. [arxiv]
SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics
Y Li, F Richter, J Lu, EK Funk, RK Orosco, J Zhu, MC Yip
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2294-2301, 2020. [arxiv][website]
ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments
D.A. Schreiber*, F. Richter*, A. Bilan**, P.V. Gavrilov**, H. M. Lam**, C.H. Price**, K.C. Carpenter, M.C. Yip;
*/** denote equal contributions
IEEE Conference on Robotics and Automation (Accepted). Paris, France (2020). [arxiv][website]
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
T. Duong, N. Das, M.C. Yip, N. Atanasov
IEEE Conference on Robotics and Automation (Accepted). Paris, France (2020). [arxiv]
ARTEMIS: Mixed-Reality Environment for Immersive Surgical Telementoring
N. Weibel, D. Gasques, J. Johnson, T. Sharkey, Z.Q. Robin Xu, X.M. Zhang, M.C. Yip, K. Davis
Computer Human Interaction (CHI), 2020 Demonstrations Paper. (Accepted).
Active Continual Learning for Planning and Navigation
A.H. Qureshi, Y.L. Miao, M.C. Yip
ICML 2020 Workshop on Real World Experiment Design and Active Learning. [pdf]
2019
Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation
M Verghese, F Richter, A Gunn, P Weissbrod, M Yip
International Symposium on Robotics Research (ISRR), Oct. 6-10, Hanoi, Vietnam, 2019. arXiv:1909.00450, 2019. [pdf]
Robotic Artificial Muscles: Current Progress and Future Perspectives
J. Zhang, J. Sheng, C.T. O'Neill, C. J. Walsh, R. J. Wood, JH. Ryu, J.P Desai, M.C. Yip
IEEE Transactions on Robotics, vol. 35, no. 3, pp. 761- 781, 2019. [pdf]
An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners
D. A. Schreiber, D. B. Shak, A. M. Norbash, M. C. Yip
IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Nov. 4-8, Macau, China, 2019 (to appear). [arxiv][video]
Neural Path Planning: Fixed Time, Near-Optimal Path Generation via Oracle Imitation
M.J. Bency, A.H. Qureshi, M.C. Yip
IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Nov. 4-8, Macau, China, 2019 (to appear). [pdf]
Open-Sourced Reinforcement Learning Environments for Surgical Robotics
F. Richter, R. K. Orosco, M.C. Yip
arXiv preprint arXiv:1903.02090, 2019. [arxiv][video][git]
Motion Planning Networks
A.H.Qureshi, A.Simeonov, M.J.Bency, M.C. Yip
IEEE International Conference on Robotics and Automation - ICRA2019. May 20-24, 2019. Montreal, Canada. (Accepted). [pdf][website][video]
Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Telesurgery
F. Richter, Y.F. Zhang, Y.H. Zhi, R.K. Orosco, M.C. Yip
IEEE International Conference on Robotics and Automation - ICRA2019. May 20-24, 2019. Montreal, Canada. (Accepted). [pdf][video]
Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation.
F. Richter, R.K. Orosco, M.C. Yip
IEEE International Conference on Robotics and Automation - ICRA2019. May 20-24, 2019. Montreal, Canada. (Accepted). [pdf][video]
Adversarial Imitation via Variational Inverse Reinforcement Learning.
A.H.Qureshi, B. Boots, M.C. Yip
International Conference on Learning Representations- ICLR2019. May 6-9, 2019. New Orleans, Louisiana. (Accepted). [pdf][website][video]
CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures | 2nd best paper award.
DA Schreiber, H Jiang, G Li, J Yu, Z Yu, R Zhu, AM Norbash, MC Yip
IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS) Workshop paper. Nov. 3-8, 2019. Macau.
arXiv preprint arXiv:1910.03063, 2019. [pdf]
2018
Deeply Informed Neural Sampling for Robot Motion Planning
A.H. Qureshi, M.C. Yip
IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Oct. 1-5, Madrid, Spain, 2018. pp. 6582-6588. [pdf][website]
N. Haouchine, W. Kuang, S. Cotin, M.C. Yip
IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2160 - 2165, 2018. [pdf][video]
Bundled Super-Coiled Polymer Artificial Muscles: Design, Characterization, and Modeling
A. Simeonov, T. Henderson, Z. Lan, G. Sundar, A. Factor, J. Zhang and M. C. Yip
IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1671-1678,2018. [pdf][video]
Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles
J. Zhang, A. Simeonov and M. C. Yip
Smart Materials and Structures, vol. 27, no. 3, p. 035002, 2018. [pdf]
New adaptive scaling strategies lowers the barrier to telerobotic surgery in communication-delayed, far-forward environments
F. Richter, Z. Ye, W. Xu, A. Bamford, E. Wirtz, R. Orosco, S. Hong, M. Yip
Abstract, Military Health Systems Research Symposium, Kissimmee, FL, Aug. 20-23, 2018.
Variable-Stiffness Robot Orthosis enables Dynamic Activities in Limb-salvage Veterans
T. West, A. Lucas, R. Nayak, A. Liang, J. Collins, R. Miltenberger, T. Kingsbury, M. Wyatt, M. Yip
Abstract, Military Health Systems Research Symposium, Kissimmee, FL, Aug. 20-23, 2018.
Adversarial Reward and Policy learning Via Variational Inverse Optimal Control
A. Qureshi, M.C. Yip
Bay Area Machine Learning Symposium – BayLearn 2018, Menlo Park, CA, August 13, 2018.
2017
Fastron: An Online Learning-Based Model and Active Learning Strategy for Proxy Collision Detection
N. Das, N. Gupta, M. Yip
Conference on Robot Learning. November 13-15, Mountain View, California, in Proceedings of Machine Learning Research (PMLR), vol. 78, pp. 496-504, 2017. [pdf][vid]
M. Yip, N. Das
Encyclopedia of Medical Robotics, World Scientific Publishing, pp. 281-313, 2017. [pdf]
J. Zhang, M. Yip
Robotics: Science and Systems. July 12-16, Cambridge, Massachusetts, 8 pages. 2017. ISBN 978-0-9923747-3-0. [pdf]
Spurring Innovation in Spatial Haptics: How Open-Source Hardware Can Turn Creativity Loose | On March 2017 Cover
M. Yip and J. Forsslund
IEEE Robotics and Automation Magazine, vol. 24, no. 1, pp. 65 - 76, 2017. [pdf]
On Control and Properties of Super-coiled Polymer Actuators
M. Yip and G. Niemeyer
IEEE Transactions on Robotics, vol. 33, no. 3, pp. 689-699, 2017. [pdf]
Modeling and Inverse Compensation of Hysteresis in Supercoiled Polymer Artificial Muscles
J. Zhang, K. Iyer, A. Simeonov and M. C. Yip
IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 773-780, 2017. [pdf]
J. Zhang and M. C. Yip
, in Robotics: Science and Systems workshop: Material Robotics -- Bridging Materials Science and Robotics, 2017
N. Das, N. Gupta, and M. C. Yip
Robotics: Science and Systems, in the workshop: (Empirically) Data-Driven Manipulation, 2017.
Telesurgical Robotic Operative Network: Addressing signal latency in telesurgery with machine learning development using microsurgical platform
S. Hong, R. Orosco, M. Yip, S. Bevans, E. Wirtz, K. Groom, M. Tabata, J. Zhou, V. Divi, J. Robitschek, J. Sterbis, F. Holsinger.
Military Health Systems Research Symposium, Kissimmee, FL, Aug. 26-29, 2017.
Screw-propelled endoscopic robot
Kevin Cheng, Andrew Saad, Dmitrii Votintcev, Elaine Tanaka, Michael Yip
IEEE/RSJ Int. Conference on Intelligent Robots and Systems. In Workshop: Continuum Robots in Medicine: Design, Integration, and Applications, Vancouver, Canada, Sept. 23, 2017. [pdf]
Robot Control of Endoscopic Instruments using Flexible Polymer Sheath
Aaron Gunn, Mrinal Verghese, Wesly Wong, Phil Weissbrod, M. Yip
IEEE/RSJ Int. Conference on Intelligent Robots and Systems. In Workshop: Continuum Robots in Medicine: Design, Integration, and Applications, Vancouver, Canada, Sept. 23, 2017.
MRI guided hyper-redundant biopsy robot
D. Schreiber, A. Norbash, M. Yip
IEEE/RSJ Int. Conference on Intelligent Robots and Systems. In Workshop: Medical Imaging Robots, Vancouver, Canada, Sept. 28, 2017.
2016
Designing Muscle-Powered Robotics using Super-coiled Polymers
J. Zhang and M. Yip
Robotics: Science and Systems. In workshop: Robot Makers: The future of digital rapid design and fabrication of robots. June 18-21, 2016. Ann-Arbor, Michigan. [pdf]
Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks
M. Yip, J. Sganga, D. Camarillo
Journal of Medical Robotics Research, vol. 1, no. 2, pp. 1750002, 2017. [pdf]
Model-less Hybrid Position/Force Control: A Minimalist Approach to Continuum Manipulator Control in Unknown Environments | Won the 2016 Best Paper Award for all IEEE Robotics and Automation Letters.
M. Yip and D. Camarillo
IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 844-851, 2016. [pdf]
An Instrumented Glove for Improving Spasticity Assessment
S. Padmaja, P. Jonnalagedda, F. Deng, K. Douglas, L. Chukoskie, M. Yip, T.N. Ng, T. Nguyen, A. Skalsky, H. Garudadri,
IEEE-NIH 2016 Special Topics Conference on Healthcare Innovations and Point-of-Care Technologies. Nov 9-11, Cancun, Mexico. 4 pages. 2016.
2015
High-Performance Robotic Muscles from Conductive Nylon Sewing Thread | Best paper award finalist
M. Yip and G. Niemeyer
IEEE International Conference on Robotics and Automation - ICRA2015. May 26-30, 2015. Seattle, WA. pp. 2313-2318. [pdf][vid]
WoodenHaptics: A Starting Kit for Crafting Force-Reflecting Spatial Haptic Devices
J. Forsslund, M. Yip and E-L. Sallnas
Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction - TEI2015. pp. 133-140. ACM, 2015. [pdf]
2014
Model-less Feedback Control of Continuum Manipulators in Constrained Environments
M. Yip and D. Camarillo
IEEE Transactions on Robotics, vol. 30, no. 4, pp. 880-889, 2014. [pdf]
Six Degree of Freedom Measurements of Human Mild Traumatic Brain Injury
F. Hernandez, L. Wu, M. Yip, A. Hoffman, J. Lopez, G. Grant, S. Kleiven and D. Camarillo
Annals of Biomedical Engineering. Article ID s10439-014-1212-4. pp. 1-16, 2014.[pdf]
Model-less Control of a Flexible Robotic Catheter | Best paper award.
M. Yip, P. Wang, and D. Camarillo
IEEE International Conference on Robotics and Automation - ICRA2014: Workshop on Advances in Flexible Robotics for Medical Applications, May 31-June 7, 2014. Hong Kong.[pdf]
Prediction of Human Mild Traumatic Brain Injury in Multiple Dimensions
M. Yip*, L. Wu*, F. Hernandez, J. Schooler, K. Bui, B. Hammoor, E. Ortega, G. Yock, J. Lopez, A. Hoffman, G. Grant and D. Camarillo
World Congress on Biomechanics. July 6-11, 2014. Boston, Massachussetts. (*co-first author)
Linear and Rotational Measurements of Human Mild Traumatic Brain Injury
F. Hernandez, L. Wu, M. Yip and D. Camarillo
Tenth World Congress on Brain Injury, March 19-22, 2014, San Francisco, California.
Finite Element Simulation of Brain Deformation from Six Degree of Freedom Acceleration Measurements of Mild Traumatic Brain Injury
F. Hernandez, L. Wu, M. Yip, A. Hoffman, J. Lopez, G. Grant, S. Kleiven and D. Camarillo
National Neurotrauma Society, Jun 29-Jul 2, 2014, San Francisco, California.
2013
O. Mohareri, C. Schneider, T. Adebar, M. Yip, P. Black, C. Nguan, D. Bergman, J. Seroger, S. DiMaio and S. Salcudean
Proceedings from of Information Processing for Computer-Assisted Intervention - IPCAI 2013, Lecture Notes in Computer Science, no. 7915, pp. 40-50, 2013. [pdf]
2012
Tissue Tracking and Registration for Image-Guided Surgery
M. Yip, D. Lowe, S. Salcudean, R. Rohling and C. Nguan
IEEE Transactions on Medical Imaging, vol. 31, no. 11, pp. 2169-2182, 2012.[pdf]
Registration of 3D Ultrasound through an Air–Tissue Boundary
T. Adebar, M. Yip, S. Salcudean, R. Rohling, C. Nguan and L. Goldenberg
IEEE Transactions on Medical Imaging, vol. 31, no. 11, pp. 2133-2142, 2012.[pdf]
Real-time Methods for Long-Term Tissue Feature Tracking in Endoscopic Scenes
M. Yip, D. Lowe, S. Salcudean, R. Rohling and C. Nguan
Proceedings from of Information Processing for Computer-Assisted Intervention - IPCAI 2012, pp. 33-43. [pdf]
2011
Performance Analysis of a Haptic Telemanipulation Task under Time Delay
M. Yip, M. Tavakoli and R. Howe
Advanced Robotics, vol. 25, no. 5, pp. 651-673, 2011. [pdf]
2010
A Robust Uniaxial Force Sensor for Minimally Invasive Surgery
M. Yip, S. Yuen and R. Howe
IEEE Transactions on Biomedical Engineering. vol. 57, no. 5, pp. 1008-1011, 2010. [pdf]
3D Ultrasound to Stereoscopic Camera Registration through an Air-Tissue Boundary
M. Yip, T. Adebar, R. Rohling, S. Salcudean and C. Nguan
Proceedings from Medical Image Computing and Computer-Assisted Intervention - MICCAI 2010, Lecture Notes in Computer Science, no. 6362, pp. 626-634, 2010.[pdf]
Performance Analysis of a Manipulation Task in Time-Delayed Teleoperation
M. Yip, M. Tavakoli and R. Howe
Proceedings from IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2010, pp. 5270-5275, 2010. [pdf]
Indirect Low-Intensity Ultrasonic Stimulation for Tissue Engineering
H. Park, M. Yip, J. Kost, J. Kobler, R. Langer, S. Zeitels and B. Chertok
Journal of Tissue Engineering, Article ID 973530, 2010. 9 pages. [pdf]
2009
Robotic Force Stabilization for Beating Heart Intracardiac Surgery
S. Yuen, M. Yip, N. Vasilyev, D. Perrin, P. del Nido and R. Howe
Proceedings from Medical Image Computing and Computer-Assisted Intervention - MICCAI 2009, Lecture Notes in Computer Science, no. 5761, pp. 26-33, 2009. [pdf]
2007
Intra-operative Laryngoscopic Instrument for Characterizing Vocal Fold Viscoelasticity
M. Ottensmeyer, M. Yip, C. Walsh, J. Kobler, J. Heaton, and S. Zeitels
Proceedings of ASME BioMed2007, Irvine, CA. pp. 133-134, 2007.
PATENTS
Machine Learning based Fixed-Time Optimal Path Generation
Michael Yip, Mayur Bency, Ahmed Qureshi
U.S. Patent 16222706. Jun 20, 2019.
Impact protection system by controlling pressure release
M. Kurt, M. Yip, C. Kuo, M. Fanton, D. Camarillo
U.S. Provisional Patent 62/428,844. Dec. 1, 2016.
Position/Force Control of a Flexible Robot under Model-less Control
M. Yip and D. Camarillo
U.S. Patent 10,434,644. Nov. 3, 2014.
Model-less Control for Continuum and Redundant Robots
M. Yip and D. Camarillo
U.S. Patent 9,488,971. Nov. 8, 2016.
S. Salcudean, M. Yip, T. Adebar, R. Rohling and C. Nguan
U.S. Patent Application 2012 0071757 A1. Mar. 22, 2011.