News | Yi Hu

Fast Inference Diffusion Policy for Robot Ball Catching Task

Thu, 02 Oct 2025 00:00:00 +0000

Developed a diffusion-based imitation learning framework with probabilistic dynamic movement primitives that distills multi-step denoising into a single-step inference process, enabling fast action generation and validated on a robotic ball-catching task.

Finetune Vision-Language-Action Model

Wed, 01 Oct 2025 00:00:00 +0000

Finetune vision-language-model Pi0.5 on real-world robot dataset. Robot Task: grasp the salt box, grasp the black bag

Pi0.5 with Spatial Module

Tue, 30 Sep 2025 00:00:00 +0000

Vision-language-action model (Pi0.5) integrated with spatial module, designed with causal attention and mixture-of-expert mechanism. Testing the model in Libero Spatial environment.

Transfer Human Daily Skills to Surgical Robot Tasks

Sat, 27 Sep 2025 00:00:00 +0000

Instead of using specific surgica task dataset, we utilized human daily dataset in learning robotic surgical tasks.

Patient Side Manipulator Picking Gauze

Endoscopic Camera Manipulator Localizing Gauze

Endoscopic Camera Manipulator Tracking Surgical Tool

Autonomous Endoscopic Camera Manipulator Scanning

Fri, 26 Sep 2025 00:00:00 +0000

We proposed a label-free adaptive Gaussian sample consensus framework for imitation learning from a noisy demonstration set.

Please find the detail from Label-Free Adaptive Gaussian Sample Consensus Framework for Learning From Perfect and Imperfect Demonstrations

Learning Pseudo Surgical Skill Training Task

Thu, 25 Sep 2025 00:00:00 +0000

Ring-and-rail task is an experimental platform for training and testing the surgical skill that manipulating the ring get through the wire without any touches. We utilize autunomous ring-and-rail tasks using a noisy demonstration set.

Please find the detail from Learning from imperfect demonstrations in a surgical training task

Autonomous Ultrasound Scanning

Wed, 24 Sep 2025 00:00:00 +0000

Autonomous ultrasound scanning for breast seroma using imitation learning

Please find the detail from Autonomous ultrasound scanning towards standard plane using interval interaction probabilistic movement primitives

Remote Ultrasound Scanning

Mon, 22 Sep 2025 00:00:00 +0000

Remote ultrasound scanning by hand pose detection

MediaPipe Hand Tracking

Sat, 20 Sep 2025 00:00:00 +0000

Implemented a MediaPipe-based real-time hand tracking system to enable future fine-grained robotic hand and finger control.

Event-based Monocular SLAM

Thu, 18 Sep 2025 00:00:00 +0000

Developed an event-based monocular SLAM pipeline by transforming asynchronous event streams into optimizable time-surface representations, enabling 6-DoF pose tracking, inverse-depth mapping, and back-end optimization.

Teleoperation via Meta Quest3

Wed, 17 Sep 2025 00:00:00 +0000

Collecting dataset using meta quest 3 teleoperation for Franka robot, which can be used in training foundation model and imitation learning framework.

Vehicle Wheel Robot Navigation Simulation in Unity

Tue, 16 Sep 2025 00:00:00 +0000

Implemented a Unity-based navigation simulation for a wheeled mobile robot, featuring an onboard camera for visual perception navigation.

Dynamics and Kinematics Modeling

Sun, 14 Sep 2025 00:00:00 +0000

Control framework for input saturation and unknown external disturbance

We built the dynamics and kinematics modeling for wheeled mobile robot.

Please find the detail from Modeling and Trajectory Tracking Control for Magnetic Wheeled Mobile Robots Based on Improved Dual-Heuristic Dynamic Programming

Actuator Saturation and Unknown Nonlinear Disturbance

Fri, 12 Sep 2025 00:00:00 +0000

Control framework for input saturation and unknown external disturbance

We address the actuator saturation and unknown nonlinear disturbance in flexible-joint manipulator.

Please find the detail from Observer-based dynamic surface control for flexible-joint manipulator system with input saturation and unknown disturbance using type-2 fuzzy neural network

Data-driven Generalized Predictive Control

Fri, 12 Sep 2025 00:00:00 +0000

Data-driven generalized predictive control workflow

We design a Data-driven generalized predictive control for car-like mobile robots.

Please find the detail from Data-driven generalized predictive control for car-like mobile robots using interval type-2 T-S fuzzy neural network

Double Closed-Loop General Type-2 Fuzzy Sliding Model Control

Thu, 11 Sep 2025 00:00:00 +0000

Structure diagram of double closed-loop control

We design a double closed-loop general Type-2 fuzzy sliding model control for wheeled mobile robots.

Please find the detail from Double Closed-Loop General Type-2 Fuzzy Sliding Model Control for Trajectory Tracking of Wheeled Mobile Robots

Mismatched Uncertainties in Dynamic Model

Wed, 10 Sep 2025 00:00:00 +0000

Fuzzy neural network approximator

We design an adaptive type-2 fuzzy neural network approximator for mismatched uncertainties in joint manipulator.

Please find the detail from Adaptive backstepping control for flexible-joint manipulator using interval type-2 fuzzy neural network approximator

Admittance control

Thu, 28 Aug 2025 00:00:00 +0000

We utilize admittance controller for human-robot compliance interaction, especially for collecting breast seroma ultrasound scanning dataset.

Teleoperation via Meta Quest3

Tue, 26 Aug 2025 00:00:00 +0000

Collecting dataset using meta quest 3 teleoperation for Franka robot, which can be used in training foundation model and imitation learning framework.

Joystick Teleoperation

Sun, 24 Aug 2025 00:00:00 +0000

Collecting dataset using joystick teleoperation for Franka robot, which can be used in training foundation model and imitation learning framework.

Kinesthic Operation

Fri, 22 Aug 2025 00:00:00 +0000

Collecting dataset using admittance control for Franka robot, which can be used in training foundation model and imitation learning framework.

Hand Tracking Teleoperation

Thu, 21 Aug 2025 00:00:00 +0000

Collecting dataset using hand tracking teleoperation for Franka robot, which can be used in training foundation model and imitation learning framework.