Jingpei Lu

I am currently a Ph.D candidate at Advanced Robotics and Controls Lab (ARClab), advised by Prof. Michael Yip. I 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.

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.