Yu Chen

I am a Master of Science in Robotics (MSR) student in the Robotics Institute, Carnegie Mellon University. I am fortunate to be advised by Prof. Howie Choset. I am also honored to work with the legendary robotic engineer Ben Brown and my thesis comittee member Prof. Guanya Shi. Before joining CMU, I received my B.Eng. degree in Vehicle Enigineering (Railway) from Tongji University in 2022.

Email: yuchen3 [at] andrew [dot] cmu [dot] edu / uchen0223 [at] gmail [dot] com

CV / Scholar

Research

My research aims to bring the precision of computer science and applied mathematics to the complexities and uncertainties inherent in real-world robotic systems. Specifically, I am interested in improving the robots' performance in complex robot-environment interactions, therefore enabling the robots to better deal with intricate tasks in practical scenarios.

	Propagative Euclidean Distance Geometric Optimization for Efficient and Effective High-Dimensional Kinematics and Motion Planning Yu Chen, Yilin Cai, Jinyun Xu, Howie Choset, Guanya Shi Ongoing Efficiently and effectively solving kinematics and motion planning problem for a broad range of articulated robots and complex task constraints with propagative euclidean distance optimization.
	Graph-Propagation-based Kinematic Algorithm for In-pipe Truss Robots Yu Chen, Jinyun Xu, Yilin Cai, Shuo Yang, Ben Brown, Fujun Ruan, Yizhu Gu, Howie Choset, Lu Li RA-L, 2024 Developing an in-pipe truss robot with redundant joints and linkages for pipe shape adaptation and actuation force distribution, providing significant advantages for complex pipeline navigation and heavy payload delivery.
	A Compacted Structure for Cross-Domain Learning on Monocular Depth and Flow Estimation Yu Chen, Xu Cao, Xiaoyi Lin, Baoru Huang, Xiao-Yun Zhou, Jian-Qing Zheng, Guang-Zhong Yang arXiv (* for equal contribution) A multi-task scheme for optical flow and depth estimation that achieves mutual assistance by means of Flow to Depth mechanism, Depth to Flow mechanism, and Exponential Moving Average.
	Semi-supervised Vein Segmentation of Ultrasound Images for Autonomous Venipuncture Yu Chen, Yuxuan Wang, Bolin Lai, Zijie Chen, Xu Cao, Nanyang Ye, Zhongyuan Ren, Junbo Zhao, Xiao-Yun Zhou, Peng Qi IROS, 2021 A robot that performs venipunctures by determining the depth of a human vein from ultrasound images using a semi-supervised learning method.
	Venibot: Towards Autonomous Venipuncture with Automatic Puncture Area and Angle Regression from NIR Images Xu Cao, Zijie Chen, Bolin Lai, Yuxuan Wang, Yu Chen, Zhengqing Cao, Zhilin Yang, Nanyang Ye, Junbo Zhao, Xiao-Yun Zhou, Peng Qi IROS workshop, 2021 A venipuncture robot that performs punctures by determining the planar location of a human vein from near-infrared images.
	Autonomous Robotic Subcutaneous Injection under Near-Infrared Image Guidance Dingliang Huang, Bin Hu, Yinna Chen, Yu Chen, Liangchen Sui, Zhaoyang Wang, Yijun Jiang, Zhongyuan Ren, Yuxuan Wang, Xu Cao, Peng Qi ASME IDETC-CIE, 2021 A venipuncture robot performing autonomous cannulation of subcutaneous injections.
	Deep Learning-based Rapid Generation of Broadly Reactive Antibodies Against SARS-CoV-2 and its Omicron Variant Hantao Lou, Jian-Qing Zheng, Xiaohang Fang, Zhu Liang, Meihan Zhang, Yu Chen, Chunmei Wang, Xuetao Cao Cell Research, 2023 An Atrous Convolution Neural Network based deep learning framework for broadly reactive antibodies against SARS-CoV-2 and VOCs prediction.

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