Publications – UCSD ARCLAB

SuPerPM: A Large Deformation-Robust Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data

S Lin, AJ Miao, A Alabiad, F Liu, K Wang, J Lu, F Richter, MC Yip

Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation

NU Shinde*, ZY Chiu*, F Richter, J Lim, Y Zhi, S Herbert, MC Yip

Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments

NU Shinde*, X Liang*, F Liu, Y Zhang, F Richter, S Herbert, MC Yip

Accepted in Robotics: Science and Systems (RSS), 2024.

BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives

S Liu, S Lin, J Lu, S Saha, A Supikov, M Yip

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 850-857 (2024).

Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints

Y Zhang, F Liu, X Liang, M Yip

Accepted in IEEE International Conference on Robotics and Automation (ICRA), 2024.

Real-to-Sim Deformable Object Manipulation: Optimizing Physics Models with Residual Mappings for Robotic Surgery

X Liang, F Liu, Y Zhang, Y Li, S Lin, M Yip

Accepted in IEEE International Conference on Robotics and Automation (ICRA), 2024.

Flexible Attention-Based Multi-Policy Fusion for Efficient Deep Reinforcement Learning

ZY Chiu*, YL Tuan*, WY Wang, MC Yip

Advances in Neural Information Processing Systems (NeurIPS), 36, pp. 13590-13612 (2024).

Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning with Transformers

JJ Johnson, AH Qureshi, MC Yip

IEEE Robotics and Automation Letters (RA-L), 2023.

Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario

E Peiros*, ZY Chiu*, Y Zhi, N Shinde, MC Yip

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 167-173 (2023).

AnyOKP: One-Shot and Instance-Aware Object Keypoint Extraction with Pretrained ViT

F Qin, T Hou, S Lin, K Wang, MC Yip, S Yu

arXiv preprint arXiv:2309.08134.

Object-centric Representations for Interactive Online Learning with Non-Parametric Methods

NU Shinde, J Johnson, S Herbert, MC Yip

IEEE International Conference on Automation Science and Engineering (CASE), pp. 1-6 (2023).

Artificial intelligence meets medical robotics

M Yip, S Salcudean, K Goldberg, K Althoefer, A Menciassi, JD Opfermann, A Krieger, K Swaminathan, CJ Walsh, H Huang, IC Lee

Science 381 (6654), pp. 141-146 (2023).

Suture Thread Spline Reconstruction from Endoscopic Images for Robotic Surgery with Reliability-driven Keypoint Detection

N Joglekar, F Liu, R Orosco, M Yip

IEEE International Conference on Robotics and Automation (ICRA), pp. 4747-4753 (2023).

Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media

J Lim*, C Joyce*, E Peiros, M Yeoh, PV Gavrilov, SG Wickenhiser, DA Schreiber, F Richter, MC Yip

IEEE International Conference on Robotics and Automation (ICRA), pp. 7317-7323 (2023).

Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery

ZY Chiu, F Richter, MC Yip

IEEE International Conference on Robotics and Automation (ICRA), pp. 4761-4767 (2023).

Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion

HM Lam, WJ Walker, L Jonasch, D Schreiber, MC Yip

IEEE International Conference on Robotics and Automation (ICRA), pp. 7338-7344 (2023).

Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering

J Lu*, F Liu*, C Girerd, MC Yip

IEEE International Conference on Robotics and Automation (ICRA), pp. 560-567 (2023).

Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media

J. Lim, C. Joyce, E. Peiros, M. Yeoh, P. V. Gavrilov, S. G. Wickenhiser, D. A. Schreiber, F. Richter, M. C. Yip

IEEE International Conference on Robotics and Automation (ICRA), pp. 7317-7323 (2023).

Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking

S Lin, AJ Miao, J Lu, S Yu, ZY Chiu, F Richter, MC Yip

IEEE International Conference on Robotics and Automation (ICRA), pp. 4739-4746 (2023).

Tracking Snake-like Robots in the Wild Using Only a Single Camera

J Lu, F Richter, S Lin, MC Yip

ORRN: An ODE-based Recursive Registration Network for Deformable Respiratory Motion Estimation With Lung 4DCT Images

X Liang, S Lin, F Liu, D Schreiber, M Yip

IEEE Transactions on Biomedical Engineering, 70(12), pp.3265-3276 (2023).

Robotic manipulation of deformable rope-like objects using differentiable compliant position-based dynamics

F Liu, E Su, J Lu, M Li, MC Yip

IEEE Robotics and Automation Letters, vol. 8, no. 7, pp. 3964-3971 (2023).

Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery

ZY Chiu, AZ Liao, F Richter, B Johnson, MC Yip

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5286-5292 (2022).

Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach

F. Richter, J. Lu, R. K. Orosco, M. C. Yip

Image Based Reconstruction of Liquids from 2D Surface Detections

F Richter, RK Orosco, MC Yip

Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control

M Verghese, N Das, Y Zhi, M Yip

Pose Estimation of Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer

J. Lu, F. Richter, M. C. Yip

Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics

F Liu, M Li, J Lu, E Su, MC Yip

Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics

F Liu, E Su, J Lu, M Li, MC Yip

Remote telesurgery in humans: a systematic review

P Barba, J Stramiello, EK Funk, F Richter, MC Yip, and RK Orosco.

DiffCo: Autodifferentiable Proxy Collision Detection With Multiclass Labels for Safety-Aware Trajectory Optimization

Zhi, Yuheng, Nikhil Das, Michael Yip

Autonomous navigation in unknown environments with sparse bayesian kernel-based occupancy mapping

T Duong, M Yip, N Atanasov

Crane: a 10 degree-of-freedom, tele-surgical system for dexterous manipulation within imaging bores

D Schreiber, Z Yu, H Jiang, T Henderson, G Li, J Yu, R Zhu, AM Norbash, MC Yip

Mixed reality surgical mentoring of combat casualty care related procedures in a perfused cadaver model: Initial results of a randomized feasibility study

MD Tadlock, EJ Olson, D Gasques, R Champagne, MJ Krzyzaniak, SA Belverud, V Ravindra, J Kerns, PM Choi, J Deveraux, J Johnson, T Sharkey, M Yip, N Weibel, K Davis

BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields

S Saha, S Liu, S Lin, J Lu, M Yip

Artifacts Mitigation in Sensors for Spasticity Assessment

Ç Yalçın, M Sam, Y Bu, M Amit, AJ Skalsky, M Yip, TN Ng, H Garudadri

Scalable tactile sensor arrays on flexible substrates with high spatiotemporal resolution enabling slip and grip for closed-loop robotics

H. Oh, G.C. Yi, M.C. Yip, S.A. Dayeh

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

Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection

F. Richter, S. Shen, F. Liu, J. Huang, E.K. Funk, R.K. Orosco, M.C. Yip

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

Data-driven Actuator Selection for Artificial Muscle-Powered Robots

T. Henderson, Y. Zhi, A. Liu, M.C. Yip

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

Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations

J. Huang*, F. Liu*, F. Richter, M.C. Yip

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

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 International Conference on Robotics and Automation (ICRA). Xi'an, China, pp. 7737-7743 (2021).

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

F. Richter*, P. V. Gavrilov* and H. M. Lam* and A. Degani and M. C. Yip

ARTEMIS: A Collaborative Mixed-Reality System for Immersive Surgical Telementoring

D Gasques, JG Johnson, T Sharkey, Y Feng, R Wang, ZR Xu, E Zavala, Y. Zhang, W. Xie, X. Zhang, K. Davis, M. Yip, and N. Weibel

Exobiology Extant Life Surveyor (EELS)

K Carpenter, A Thoesen, D Mick, J Martia, M Cable, K Mitchell, S. Hovsepian, J. Jasper, N. Georgiev, R. Thakker, A. Kourchians, B. Wilcox, M. Yip, and H. Marvi.

Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery

M Xu, J Di, N Das, MC Yip

NeRP: Neural Rearrangement Planning for Unknown Objects

AH Qureshi, A Mousavian, C Paxton, MC Yip, D Fox

Motion Planning Transformers: One Model to Plan Them All

JJ Johnson, L Li, AH Qureshi, MC Yip

Constrained motion planning networks x

AH Qureshi, J Dong, A Baig, MC Yip

Chance-Constrained Motion Planning using Modeled Distance-to-Collision Functions

JJ Johnson, MC Yip

CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores

DA Schreiber, Z Yu, H Jiang, T Henderson, G Li, J Yu, R Zhu, AM Norbash, MC Yip

From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling

F Richter, EK Funk, WS Park, RK Orosco, MC Yip

Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer

J Lu, F Richter, MC Yip

Robotic autonomy in endocrine surgery

EK Funk, F Richter, WS Park, MC Yip, RK Orosco

Active Continual Learning for Planning and Navigation

A.H. Qureshi, Y.L. Miao, M.C. Yip

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

Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping

T. Duong, N. Das, M.C. Yip, N. Atanasov

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;

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

Forward Kinematics Kernel for Improved Proxy Collision Checking

N Das, MC Yip

Composing Task-Agnostic Policies with Deep Reinforcement Learning

A.H.Qureshi, J.J. Johnson, Y. Qin, T. Henderson, B. Boots, M.C. Yip

Vibration-based Multi-Axis Force Sensing: Design, Characterization, and Modeling

W. Kuang, M.C. Yip, J. Zhang

SOLAR-GP: Sparse, Online, Locally Adaptive Regression using Gaussian Processes for Bayesian Robot Model Learning and Control

B. P. Wilcox, M.C. Yip

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

Learning-Based Proxy Collision Detection for Robot Motion Planning Applications

N.Das, M.C. Yip

Stochastic Modeling of Distance to Collision for Robot Manipulators

N. Das, M.C. Yip

Motion Planning Networks: Bridging the Gap between Learning-based and Classical Planners

A.H Qureshi, Y.L. Miao, A. Simeonov, M.C. Yip

Neural Manipulation Planning on Constraint Manifolds

A.H. Qureshi, J. Dong, A. Choe, M.C. Yip

Dynamically constrained motion planning networks for non-holonomic robots

J. J. Johnson, L. Li, F. Liu, A. H. Qureshi, and M. C. Yip

CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures | Best Paper finalist

DA Schreiber, H Jiang, G Li, J Yu, Z Yu, R Zhu, AM Norbash, MC Yip

Adversarial Imitation via Variational Inverse Reinforcement Learning

A.H.Qureshi, B. Boots, M.C. Yip

Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation.

F. Richter, R.K. Orosco, M.C. Yip

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

Motion Planning Networks

A.H.Qureshi, A.Simeonov, M.J.Bency, M.C. Yip

Open-Sourced Reinforcement Learning Environments for Surgical Robotics

F. Richter, R. K. Orosco, M.C. Yip

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

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

Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation

M Verghese, F Richter, A Gunn, P Weissbrod, M Yip

Fastron: An Online Learning-Based Model and Active Learning Strategy for Proxy Collision Detection

N. Das, N. Gupta, M. Yip

Adversarial Reward and Policy learning Via Variational Inverse Optimal Control

A. Qureshi, M.C. Yip

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

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

Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles

J. Zhang, A. Simeonov and M. C. Yip

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

Vision-based Force Feedback Estimation for Robot-assisted Surgery using Instrument-constrained Biomechanical 3D Maps

N. Haouchine, W. Kuang, S. Cotin, M.C. Yip

Deeply Informed Neural Sampling for Robot Motion Planning

A.H. Qureshi, M.C. Yip

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

M. Yip, J. Sganga, D. Camarillo

MRI guided hyper-redundant biopsy robot

D. Schreiber, A. Norbash, M. Yip

Robot Control of Endoscopic Instruments using Flexible Polymer Sheath

Aaron Gunn, Mrinal Verghese, Wesly Wong, Phil Weissbrod, M. Yip

Screw-propelled endoscopic robot

Kevin Cheng, Andrew Saad, Dmitrii Votintcev, Elaine Tanaka, Michael Yip

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.

Fastron: A Learning-Based Configuration Space Model for Rapid Collision Detection for Gross Motion Planning in Changing Environments

N. Das, N. Gupta, and M. C. Yip

Three-dimensional hysteresis modeling of robotic artificial muscles with application to shape memory alloy actuators

J. Zhang and M. C. Yip

Modeling and Inverse Compensation of Hysteresis in Supercoiled Polymer Artificial Muscles

J. Zhang, K. Iyer, A. Simeonov and M. C. Yip

On Control and Properties of Super-coiled Polymer Actuators

M. Yip and G. Niemeyer

Spurring Innovation in Spatial Haptics: How Open-Source Hardware Can Turn Creativity Loose | On March 2017 Cover

M. Yip and J. Forsslund

Three-Dimensional Hysteresis Modeling of Robotic Artificial Muscles with Application to Shape Memory Alloy Actuators

J. Zhang, M. Yip

Robot Autonomy for Surgery

M. Yip, N. Das

Neural Path Planning: Fixed Time, Near-Optimal Path Generation via Oracle Imitation

M.J. Bency, A.H. Qureshi, M.C. Yip

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

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

Designing Muscle-Powered Robotics using Super-coiled Polymers

J. Zhang and M. Yip

WoodenHaptics: A Starting Kit for Crafting Force-Reflecting Spatial Haptic Devices

J. Forsslund, M. Yip and E-L. Sallnas

High-Performance Robotic Muscles from Conductive Nylon Sewing Thread | Best paper award finalist

M. Yip and G. Niemeyer

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