Research Experience

Work Experience

Research Intern in Project Silica

• 2021,Microsoft Research Cambridge, Cambridge, UK

+ Detail

Individual Project

Graph Neural Networks for Decentralized Path Planning

• 2020, Prorok Lab, University of Cambridge, Cambridge, UK

+ Detail

• Supervisor: Dr.Amanda Prorok
• Abstract:
  • We propose a combined architecture, where we train a convolutional neural network (CNN) that extracts adequate features from local observations, and a graph neural network (GNN) to communicate these features among robots with the ultimate goal of learning a decentralized sequential action policy that yields efficient path plans for all robots.
  • GNN implementation offers an efficient architecture that operates in a localized manner, whereby information is shared over a multi-hop communication network, through explicit communication with nearby neighbors only
• [AAMAS2020.pdf],[IROS2020.pdf]

Estimation of Tissue Oxygen Saturation based on Image to Image Translation

• 2018, The Hamlyn Centre, Imperial College London, London, UK

+ Detail

• Motivation: Investigate a non-invasive intra-operative measurement of tissue oxygen saturation based on Hyperspectral Imaging.
• Supervisor: Prof.Daniel S Elson
• Abstract:
  • The conditional Generative Adversarial Networks (cGAN) was used to develop pixel-level image-to-image translation approach, called RGB2StO2, to estimate tissue oxygen saturation (StO2) from RGB images directly.
  • Dual-input network, called Dual2StO2, was developed to investigate the optimal setting of the fibre bundle to capture meaningful and informative images from HSI camera.
• [RGB2StO2.pdf],[Dual2StO2.pdf]

Academic Research Internship in Legged Robot

• Summer 2017, Intelligence Robot Lab, Zhejiang University

+ Detail

• Supervisor: Dr. Qiuguo Zhu
• Duties included:
  • Robust control of bipedal walking for legged robot.
  • Carried out physical experiment.

Research Assistant in Bipedal Walking of Humanoid Robot

• 2017, SLMC, School of Informatics, The University of Edinburgh

+ Detail

• Supervisor: Dr. Zhibin Li
• Duties included:
  • Research model-free control of bipedal walking for humanoid robotics.
  • Theoretical proof and simulation validation of online parameter estimation to obtain robust control of bipedal walking.
• [Humanoid2017.pdf]

Missile Impact on Snow (MEng Thesis with Distinction)

• 2015, The University of Edinburgh

+ Detail

Research Assistant in Industrial Robotics (Funded by Erasmus+)

• 2015, The Institute of Production Engineering and Machine Tools (IFW), Leibniz University of Hanover

+ Detail

Collaborative Work

Real-time Surgical Environment Enhancement for Robot-Assisted Minimally Invasive Surgery

+ Detail

• Project description:
  • We propose a multi-scale Generative Adversarial Network (GAN)-based video super-resolution method to construct a framework for automatic zooming ratio adjustment.
  • It can provide automatic real-time zooming for high-quality visualization of the Region Of Interest (ROI) during the surgical operation.
  • The framework is validated with the JIGSAW dataset and Hamlyn Centre Laparoscopic/Endoscopic Video Datasets, with results demonstrating its practicability.
• [ICRA2021.pdf]

• Experiments of our pipeline in JIGASW dataset, demonstrating different phases of testing our pipeline in the suturing (a) and knot tying (b) tasks, while (c) summaries the correspondence of the predicted operations and the upscaling factors.

Vision-based Navigation in Flexible Endoscopy

• 2017, The Hamlyn Centre, Imperial College London

+ Detail

• Supervisor: Dr. George Mylonas
• Project description:
  • Simultaneously mapping the human colon and tracking the endoscope pose in real time during flexible endoscopy.
• Duties included:
  • Investigated available visual SLAM methods (ORB-SLAM) and visual-inertial SLAM methods (VINS-Mono, OKVIS), and customize them for small scale, near focus.
  • Our SLAM pipeline can obtain conclusive registration and surface reconstruction based on point cloud data.