Publications

2025

  1. Opt2skill: Imitating dynamically-feasible whole-body trajectories for versatile humanoid loco-manipulation
    Fukang Liu, Zhaoyuan Gu, Yilin Cai, Ziyi Zhou, Shijie Zhao, Hyunyoung Jung, Sehoon Ha, Yue Chen, Danfei Xu, and Ye Zhao
    arXiv preprint arXiv:2409.20514 2025
    arXiv
  2. Propagative Distance Optimization for Motion Planning
    Yu Chen, Jinyun Xu, Yilin Cai, Ting-Wei Wong, Zhongqiang Ren, Howie Choset, and Guanya Shi
    International Conference on Robotics and Automationv (ICRA) 2025
  3. Modular Self-Reconfigurable Continuum Robot for General Purpose Loco-Manipulation
    Yilin Cai, Haokai Xu, Yifan Wang, Desai Chen, Wojciech Matusik, Wan Shou, and Yue Chen
    IEEE Robotics and Automation Letters 2025
    HTML VIDEO

2024

  1. Multi-Agent Teamwise Cooperative Path Finding and Traffic Intersection Coordination
    Zhongqiang Ren, Yilin Cai, and Hesheng Wang
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
    HTML
  2. PWTO: A Heuristic Approach for Trajectory Optimization in Complex Terrains
    Yilin Cai, and Zhongqiang Ren
    12th ICAPS Workshop on Planning and Robotics (PlanRob) 2024
    arXiv
  3. Propagative Distance Optimization for Constrained Inverse Kinematics
    Yu Chen, Yilin Cai, Jinyun Xu, Zhongqiang Ren, Guanya Shi, and Howie Choset
    International Workshop on the Algorithmic Foundations of Robotics (WAFR) 2024
    arXiv
  4. Graph-Propagation-Based Kinematic Algorithm for In-Pipe Truss Structure Robots
    Yu Chen, Jinyun Xu, Yilin Cai, Shuo Yang, Ben Brown, Fujun Ruan, Yizhu Gu, Howie Choset, and Lu Li
    IEEE Robotics and Automation Letters 2024
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  5. A Steerable Cross-Axis Notched Continuum Manipulator for Endobronchial Intervention
    Xiaojie Ai, Yilin Cai, Anzhu Gao, and Weidong Chen
    IEEE Transactions on Medical Robotics and Bionics 2024
    HTML Slides

2023

  1. In-Hand Manipulation in Power Grasp: Design of an Adaptive Robot Hand with Active Surfaces
    Winner, Outstanding Manipulation Paper Award; Finalist, Outstanding Conference Paper Award
    Yilin Cai, and Shenli Yuan
    International Conference on Robotics and Automationv (ICRA) 2023
    HTML VIDEO Poster
  2. Statics Modeling of Discrete Joint Surgical Probes with Tendon-based Stiffening
    Yilin Cai, Andrew Orekhov, and Howie Choset
    International Symposium on Medical Robotics (ISMR) 2023
    HTML
  3. DytanVO: Joint Refinement of Visual Odometry and Motion Segmentation in Dynamic Environments
    Shihao Shen, Yilin Cai, Wenshan Wang, and Sebastian Scherer
    International Conference on Robotics and Automation (ICRA) 2023
    HTML VIDEO
  4. Identifying Human Grasp Properties During Robot-to-Human Handovers
    Paul Pacaud, Etienne Chassaing, Yilin Cai, Connor Yako, and Kenneth Salisbury
    IEEE World Haptics Conference (WHC) 2023
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2022

  1. Bioinspired Rotation Microneedles for Accurate Transdermal Positioning and Ultraminimal-Invasive Biomarker Detection with Mechanical Robustness
    Yilin Cai, Shiyi Huang, Zhinan Zhang, Jiazheng Zhang, Xingyue Zhu, Xiaoxiang Chen, and Xianting Ding
    Research 2022
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2019

  1. Cross-Modal Fusion Between Data in SAXS and Cryo-EM for Biomolecular Structure Determination
    Shengnan Lyu, Christian Wülker, Yuqing Pan, Amitesh S Jayaraman, Jianhao Zheng, Yilin Cai, and Gregory S Chirikjian
    NYC Computational Cryo-EM Summer Workshop 2019
    arXiv HTML