Publications

Learning from imperfect demonstrations in a surgical training task
Robotic surgery offers several advantages over traditional techniques, including improved precision, greater consistency, and enhanced …
Yi Hu, Yafei Ou, August Sieben, Zahra Samadikhoshkho, Bin Zheng, Jun Jin, Mahdi Tavakoli
Posted Jul 18, 2025
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Pretraining Using Comparable Human Activities of Daily Living Dataset in Robotic Surgical Task Learning
Training robots to acquire surgical skills poses significant challenges, primarily due to the limited availability of comprehensive …
Yi Hu, Mahdi Tavakoli, Jun Jin
Posted Jul 16, 2025
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Label-Free Adaptive Gaussian Sample Consensus Framework for Learning From Perfect and Imperfect Demonstrations
Autonomous robotic surgery represents one of the most groundbreaking advancements in medical technology. Learning from human …
Yi Hu, Zahra Samadikhoshkho, Jun Jin, Mahdi Tavakoli
Posted Jul 3, 2024
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Autonomous ultrasound scanning towards standard plane using interval interaction probabilistic movement primitives
Learning from demonstrations is the paradigm where robots acquire new skills demonstrated by an expert and alleviate the physical …
Yi Hu, Mahdi Tavakoli
Posted Oct 1, 2023
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Data‐driven generalized predictive control for car‐like mobile robots using interval type‐2 T‐S fuzzy neural network
In this paper, for the nonlinear influencing factors such as uncertainty and external disturbance existing in the actual driving …
Yi Shui, Tao Zhao, Songyi Dian, Yi Hu, Rui Guo, Shengchuan Li
Posted May 1, 2022
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Observer-based dynamic surface control for flexible-joint manipulator system with input saturation and unknown disturbance using type-2 fuzzy neural network
In this paper, the nonlinear disturbance observer (NDO) based dynamic surface control (DSC) with interval type-2 fuzzy neural network …
Yi Hu, Songyi Dian, Rui Guo, Shengchuan Li, Tao Zhao
Posted May 14, 2021
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Adaptive backstepping control for flexible-joint manipulator using interval type-2 fuzzy neural network approximator
In this paper, an adaptive backstepping controller based on interval type-2 fuzzy neural network (IT2FNN) approximator is proposed for …
Songyi Dian, Yi Hu, Tao Zhao, Jixia Han
Posted Mar 30, 2020
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Double closed-loop general type-2 fuzzy sliding model control for trajectory tracking of wheeled mobile robots
In this paper, a double-loop control scheme, combining general type-2 fuzzy logic controller (GT2FLC) and non-singular terminal sliding …
Songyi Dian, Jixia Han, Rui Guo, Shengchuan Li, Tao Zhao, Yi Hu, Qing Wu
Posted Oct 1, 2019
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Modeling and trajectory tracking control for magnetic wheeled mobile robots based on improved dual-heuristic dynamic programming
In this article, a mathematical model of a magnetic-wheeled mobile robot (MWMR) used for wall climbing in some special industrial sites …
Songyi Dian, Hongwei Fang, Tao Zhao, Qing Wu, Yi Hu, Rui Guo, Shengchuan Li
Posted Jul 31, 2019
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