Robust Keypoint Detection and Pose Estimation of Robot Manipulators with Self-Occlusions via Sim-to-Real Transfer. - Jingpei Lu; Florian Richter 002; Michael C. Yip (CoRR, 2020)

SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation With Surgical Robotics. - Yang Li 041; Florian Richter 002; Jingpei Lu; Emily K. Funk; Ryan K. Orosco; Jianke Zhu; Michael C. Yip (IEEE Robotics Autom. Lett., 2020)

Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy. - Fei Liu 033; Zihan Li; Yunhai Han; Jingpei Lu; Florian Richter 002; Michael C. Yip (ICRA, 2021)

SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction. - Jingpei Lu; Ambareesh Jayakumari; Florian Richter 002; Yang Li 041; Michael C. Yip (ICRA, 2021)

Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics. - Fei Liu 033; Mingen Li; Jingpei Lu; Entong Su; Michael C. Yip (CoRR, 2022)

Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics. - Fei Liu 033; Entong Su; Jingpei Lu; Mingen Li; Michael C. Yip (CoRR, 2022)

Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Classification, Reconstruction, and Tracking. - Shan Lin; Albert J. Miao; Jingpei Lu; Shunkai Yu; Zih-Yun Chiu; Florian Richter 002; Michael C. Yip (CoRR, 2022)

Pose Estimation for Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer. - Jingpei Lu; Florian Richter 002; Michael C. Yip (IEEE Robotics Autom. Lett., 2022)

Robotic Tool Tracking Under Partially Visible Kinematic Chain: A Unified Approach. - Florian Richter 002; Jingpei Lu; Ryan K. Orosco; Michael C. Yip (IEEE Trans. Robotics, 2022)

Markerless Camera-to-Robot Pose Estimation via Self-Supervised Sim-to-Real Transfer. - Jingpei Lu; Florian Richter 002; Michael C. Yip (CVPR, 2023)

Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking. - Shan Lin; Albert J. Miao; Jingpei Lu; Shunkai Yu; Zih-Yun Chiu; Florian Richter 002; Michael C. Yip (ICRA, 2023)

Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering. - Jingpei Lu; Fei Liu 033; Cédric Girerd; Michael C. Yip (ICRA, 2023)

BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives. - Sainan Liu; Shan Lin; Jingpei Lu; Shreya Saha; Alexey Supikov; Michael C. Yip (CoRR, 2023)

SuPerPM: A Large Deformation-Robust Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data. - Shan Lin; Albert J. Miao; Ali Alabiad; Fei Liu 033; Kaiyuan Wang; Jingpei Lu; Florian Richter 002; Michael C. Yip (CoRR, 2023)

BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields. - Shreya Saha; Sainan Liu; Shan Lin; Jingpei Lu; Michael C. Yip (CoRR, 2023)

Robotic Manipulation of Deformable Rope-Like Objects Using Differentiable Compliant Position-Based Dynamics. - Fei Liu 033; Entong Su; Jingpei Lu; Mingen Li; Michael C. Yip (IEEE Robotics Autom. Lett., 2023)

BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives. - Sainan Liu; Shan Lin; Jingpei Lu; Alexey Supikov; Michael C. Yip (CVPR Workshops, 2024)

Tracking Snake-Like Robots in the Wild Using Only a Single Camera. - Jingpei Lu; Florian Richter 002; Shan Lin; Michael C. Yip (ICRA, 2024)

Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration. - Abby O'Neill; Abdul Rehman; Abhiram Maddukuri; Abhishek Gupta 004; Abhishek Padalkar; Abraham Lee; Acorn Pooley; Agrim Gupta; Ajay Mandlekar; Ajinkya Jain; Albert Tung; Alex Bewley; et al. (ICRA, 2024)

SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data. - Shan Lin; Albert J. Miao; Ali Alabiad; Fei Liu 033; Kaiyuan Wang; Jingpei Lu; Florian Richter 002; Michael C. Yip (IROS, 2024)

HemoSet: The First Blood Segmentation Dataset for Automation of Hemostasis Management. - Albert J. Miao; Shan Lin; Jingpei Lu; Florian Richter 002; Benjamin Ostrander; Emily K. Funk; Ryan K. Orosco; Michael C. Yip (ISMR, 2024)

DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset. - Alexander Khazatsky; Karl Pertsch; Suraj Nair 003; Ashwin Balakrishna; Sudeep Dasari; Siddharth Karamcheti; Soroush Nasiriany; Mohan Kumar Srirama; Lawrence Yunliang Chen; Kirsty Ellis; Peter David Fagan; Joey Hejna; et al. (Robotics: Science and Systems, 2024)

DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset. - Alexander Khazatsky; Karl Pertsch; Suraj Nair 003; Ashwin Balakrishna; Sudeep Dasari; Siddharth Karamcheti; Soroush Nasiriany; Mohan Kumar Srirama; Lawrence Yunliang Chen; Kirsty Ellis; Peter David Fagan; Joey Hejna; et al. (CoRR, 2024)

CtRNet-X: Camera-to-Robot Pose Estimation in Real-world Conditions Using a Single Camera. - Jingpei Lu; Zekai Liang; Tristin Xie; Florian Ritcher; Shan Lin; Sainan Liu; Michael C. Yip (CoRR, 2024)

Image-based Robot Pose Estimation - Jingpei Lu (2024)

BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction Using Neural Radiance Fields. - Shreya Saha; Zekai Liang; Shan Lin; Jingpei Lu; Michael C. Yip; Sainan Liu (WACV, 2025)

SurgiSR4K: A High-Resolution Endoscopic Video Dataset for Robotic-Assisted Minimally Invasive Procedures. - Fengyi Jiang; Xiaorui Zhang; Lingbo Jin; Ruixing Liang; Yuxin Chen; Adi Chola Venkatesh; Jason Culman; Tiantian Wu; Lirong Shao; Wenqing Sun; Cong Gao; Hallie McNamara; et al. (CoRR, 2025)