Jingpei Lu

I graduated from UC San Diego with a PhD, where I worked at Advanced Robotics and Controls Lab (ARClab), advised by Prof. Michael Yip. I also received my B.S./M.S degree in Electrical Engineering from UC San Diego.

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Research

My research interests lie in the fields of Computer Vision and Robotics. During my work, I have focused on state estimation, 3D reconstruction, and their applications in space and surgical robots.

	BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields Shreya Saha, Zekai Liang, Shan Lin, Jingpei Lu, Michael Yip, Sainan Liu IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2025 [arXiv]
	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, Kaiyuan Wang, Jingpei Lu, Florian Richter, Michael C. Yip IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 [arXiv]
	Tracking Snake-Like Robots in the Wild Using Only a Single Camera Jingpei Lu, Florian Richter, Shan Lin, Michael C. Yip IEEE Conference on Robotics and Automation (ICRA), 2024 [arXiv]
	BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives Sainan Liu, Shan Lin, Jingpei Lu, Alexey Supikov, Michael Yip IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2024 [arXiv]
	HemoSet: The First Blood Segmentation Dataset for Automation of Hemostasis Management Albert J. Miao Shan Lin, Jingpei Lu, Florian Richter, Benjamin Ostrander, Emily K. Funk, Ryan K. Orosco, Michael C. Yip International Symposium on Medical Robotics (ISMR), 2024 Best Student Paper Award [arXiv]
	Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer Jingpei Lu, Florian Richter, Michael C. Yip IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023 [arXiv] [code] [website]
	Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics Fei Liu, Entong Su, Jingpei Lu, Mingen Li, Michael C. Yip (* Equal contributions) IEEE Robotics and Automation Letters (RA-L), March 2023 [arXiv]
	Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering Jingpei Lu, Fei Liu, Cedric Girerd, Michael C. Yip (* Equal contributions) IEEE Conference on Robotics and Automation (ICRA), 2023 [arXiv]
	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, Michael C. Yip IEEE Conference on Robotics and Automation (ICRA), 2023 [arXiv][code]
	Pose Estimation for Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer Jingpei Lu, Florian Richter, Michael C. Yip IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, pp. 4622-4629, April 2022 [arXiv] [website]
	Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach Florian Richter, Jingpei Lu, Ryan K. Orosco, Michael C. Yip IEEE Transactions on Robotics (T-RO), vol. 38, no. 3, pp. 1653-1670, June 2022 [arXiv] [code]
	Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy Fei Liu, Zihan Li, Yunhai Han, Jingpei Lu, Florian Richter, Michael C. Yip IEEE Conference on Robotics and Automation (ICRA), 2021 [arXiv]
	SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction Jingpei Lu, Ambareesh Jayakumari, Florian Richter, Yang Li, Michael C. Yip (* Equal contributions) IEEE Conference on Robotics and Automation (ICRA), 2021 [arXiv]
	SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics Yang Li, Florian Richter, Jingpei Lu, Emily K. Funk, Ryan K. Orosco, Jianke Zhu, Michael C. Yip (* Equal contributions) IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 2294-2301, April 2020 [arXiv] [website]

Website templete from here.