publications

publications by categories in reversed chronological order. generated by jekyll-scholar.

2025

UltraDP: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion Policy

Ruoqu Chen, Xiangjie Yan, Kangchen Lv, Gao Huang, Zheng Li, and Xiang Li

In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Abs Website

Present UltraDP, a Diffusion-Policy-based method that receives multi-sensory inputs (ultrasound images, wrist camera image, contact wrench, and probe pose) and generates actions that are fit for multi-modal action distributions in autonomous ultrasound scanning. UltraDP achieves a 95% success rate in transverse scanning on previously unseen subjects, demonstrating its effectiveness.
Whole-Body Model Predictive Control for Mobile Manipulation with Task Priority Transition

Yushi Wang, Ruoqu Chen, and Mingguo Zhao

In 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025

Abs Website

Developed a Whole-Body Model Predictive Control (WBMPC) framework to manage task priorities and scheduling in multi-task mobile manipulation scenarios. Integrated task priorities into a unified weight matrix, enabling smooth transitions across tasks in both spatial and temporal dimensions.