People
LIU Yun-Hui 劉雲輝
Choh-Ming Li Professor of Mechanical and Automation Engineering,
Director of CUHK T Stone Robotics Institute (CURI),
Director of Hong Kong Centre for Logistics Robotics
yhliu@mae.cuhk.edu.hk
TEL: 852 - 3943 8340
Room 208, William M.W. Mong Engineering Building
CUHK T Stone Robotics Institute

Professor Yunhui Liu is Choh-Ming Li Professor of Mechanical and Automation Engineering at the Faculty of Engineering. He received his B. Eng. degree in Applied Dynamics from Beijing Institute of Technology, China in 1985, his M. Eng. degree in Mechanical Engineering from Osaka University in 1989, and his Ph.D in Mathematical Engineering and Information Physics from the University of Tokyo, Japan in 1992. After completing his PhD study, he worked at the Electrotechnical Laboratory, MITI, Japan as a Research Scientist and took part in several Japanese national projects at large on intelligent robots and machine learning. He joined The Chinese University of Hong Kong in 1995 and was promoted to a Professor at the Department of Mechanical and Automation Engineering in 2002. He is currently the Director of the CUHK T Stone Robotics Institute, also the Director of Hong Kong Centre for Logistics Robotics.

He is also a Visiting Professor of Shenyang Institute of Automation, Chinese Academy of Science; a Changjiang Professor of the National University of Defense Technology (NUDT), and a Visiting Professor at Beijing Institute of Technology. He is the director of the Centre for Robotics and Technology Education of Faculty of Engineering and the director of the Joint Center for Intelligent Sensing and Systems of CUHK and NUDT.

Professor Liu is a globally renowned scholar in robotics and automation. His research interests include vision-based robotics, medical robotics, and machine intelligence. He has published over 500 papers in refereed journals and conference proceedings and was listed in the Highly Cited Authors (Engineering) by Thomson Reuters in 2013. He was awarded more than 20 patents and is the Editor-in-Chief of “Robotics and Biomimetics”. He received the 1994 and 1998 Best Journal Paper Awards from the Robotics Society of Japan, and the Best Paper Awards in the first and third IEEE Electro/Information Technology Conference. His students have received many best student papers award or nomination awards from the major international conferences in robotics and automation. The students supervised by him have become faculty members of universities in USA, Canada, Hong Kong and the mainland China. Professor Liu has received numerous research awards from government agencies. His research is widely fund by Hong Kong RGC, ITF, Inno HK , RAISe+ Scheme, and the national strategic development grant, etc.

He was an Associate Editor of IEEE Transactions on Robotics and Automation and is currently an editor of Advanced Robotics. He was a Guest Editor of Robotics and Autonomous Systems and on the editorial board of Transactions of the Society of Instrument and Control Engineers (SICE).  Prof. Liu is actively involving in organization of international conferences. He has served as the General Chair of many international conferences, including the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008 IEEE International Conference on Information and Automation (ICIA), 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on Robotics and Automation (ICRA) and 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR). He also served other international conferences like ICMA, AIM, etc as award chairs and other major organizers.

Prof. Liu is a Fellow of IEEE and HKIE. He was members of the Robotics Society of Japan and of the Society of Instrument and Control Engineers. He endeavors to translate research outcomes into a real product in the market, and founded VisionNav Robotics, Cornerstone robotics, and other technology companies.

Research Interests
  • Medical robotics
  • Logistics robotics
  • Construction robotics
  • Machine Vison
  • Biomedical engineering
Projects
  • Image-guided Automated Robotic Surgery (funded by RGC Theme-based Research Scheme)
  • Manipulation control of deformable objects
  • Precision autonomous driving of industrial vehicles (funded by ITC)
  • Real-time 3D construction of objects and scenes
Teaching
2018/2019
ENGG1100B Introduction to Engineering Design
ENGG1100E Introduction to Engineering Design
Publications

Selected Journal Papers

  1. B. Yang, C. Sui, F. Zhong and Y.H. Liu, Modal-graph 3D shape servoing of deformable objects with raw point clouds, Int. J. of Robotics Research, Early Access, 2023.
  2. F. Zhong, B. Li, W. Chen, and Y. H. Liu. Robot-Camera Calibration in Tightly Constrained Environment Using Interactive Perception, IEEE Trans. on Robotics, 39(6): 4952-4970, 2023.B. Yang, B. Li, W. Chen, F. Zhong and Y. H. Liu, Model-Free 3-D Shape Control of Deformable Objects Using Novel Features Based on Modal Analysis, IEEE Trans. on Robotics, 39(4): 3134-3153, 2023.
  3. Zhong, and Y.H. Liu. Integrated Planning and Control of Robotic Surgical Instruments for Task Autonomy, Int. J. of Robotics Research, 42(7): 02783649231179753, 2023.
  4. H. Li, J. Zhao, J.C. Bazin, P. Kim, K. Joo, Z. Zhao, and Y. H. Liu, Hong Kong World: Leveraging Structural Regularity for Line-based SLAM, IEEE Trans. on PAMI, 45(11): 13035-13053, 2023.
  5. J. Wang, J. Jiao, L. Bao, S. He, and Y. H. Liu, Self-Supervised video representation learning by uncovering spatio-temporal statistics, IEEE Trans. PAMI, 44(7): 3791-3806, 2022.
  6. C. Sui, J. Wu, Z. Wang, G. Ma, and Y. H. Liu, A real-time 3D laparoscopic imaging system: design, method and validation, IEEE Trans. on Biomedical Engineering, early access, 2020.
  7. S. Zhou, H. Zhao, W. Chen, Z. Miao, Z. Liu, H. Wang and Y. H. Liu, Robust Path Following of the Tractor-Trailers System in GPS-Denied Environments, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 500-507, 2020. (Honorable Mention for the Best Paper Award)
  8. X. Liang , H. Wang, Y.-H. Liu, Z. Liu, B. You, Z. Jing, and W. Chen, Purely Image-Based Pose Stabilization of Nonholonomic Mobile Robots With a Truly Uncalibrated Overhead Camera, IEEE Trans. on Robotics, early access, 2020.
  9. T. Zhang, Y. Wen and Y. H. Liu, Developing a Parallel Robot for MRI-Guided Breast Intervention, IEEE Trans. on Medical Robotics and Bionics, vol. 2, no. 1, 2020.
  10. F. Zhong, P. Li, J. Shi, Z. Wang, J. Wu, J. Y. K. Chan, N. Leung, I. Leung, M. C. F. Tong, Y. H. Liu, Foot-Controlled Robot-Enabled EnDOscope Manipulator (FREEDOM) for Sinus Surgery: Design, Control, and Evaluation, IEEE Trans. on Biomedical Engineering, vol. 67, no. 6, 2020. (featured paper)
  11. J. Wu, Z. Wng, W. Che, Y. Wang, and Y. H. Liu, Design and Validation of a Novel Leaf Spring Based Variable Stiffness Joint with Reconfigurability, IEEE/ASME Trans. on Mechatronics, early access, 2020.
  12. B. Yang, W. Chen, Z. Wang, Y. Lu, J. Mao, H. Wang, and Y. H. Liu, Adaptive FOV control of laparoscopes with programmable composed constraints, IEEE Trans. on Medical Robotics and Bionics, 1(4): 206-216, 2019.
  13. Q. Nie, J. Wang, X. Wang and Y. H. Liu, View-Invariant Human Action Recognition Based on a 3D Bio-Constrained Skeleton Model, IEEE Trans. on Image Processing, vol. 20, no. 8, 2019.
  14. H. Tang, Y. H. Liu, and H. Wang, Constraint Gaussian Filter with Virtual Measurement for Online Camera-Odometry Calibration, IEEE Trans. on Robotics, 34(4): 630-644, 2018.
  15. X. Liang, H. Wang, Y. H. Liu and W. Chen, Formation control of nonholonomic mobile robots without position and velocity measurements, IEEE Trans. on Robotics, 34(2):434-446, 2018
  16. D. Navarro-Alarcon and Y. H. Liu, Fourier-based shape servoing: a new feedback method to actively deform soft objects into desired 2D image contours, IEEE Trans. on Robotics, 34(1): 272-279, 2018.
  17. D. Navarro-Alarcon, H. M. Yip, Z Wang, Y. H. Liu, F. Zhong, T. Zhang, and P. Li, Automatic 3D manipulation of soft objects by robotic arms with adaptive deformation model, IEEE Trans. on Robotics, 32(2): 429-441, 2016.
  18. D. Navarro-Alarcon, Y. H. Liu, J. G. Romero, and P. Li, Model-free visually servoed deformation control of elastic objects by robot manipulators, IEEE Trans. on Robotics, 29(6):1457-1468, 2013.
  19. K. Wang, Y. H. Liu and L. Li, Visually servoed trajectory tracking of nonholonomic mobile robots without direct position measurement, IEEE Trans. on Robotics, 30(4):1026-1035, 2014.
  20. D. Navarro-Alarcon, Y. H. Liu, J. G. Romero and P. Li, On the visual deformation servoing of compliant objects: uncalibrated control methods and experiments, Int. Journal of Robotics Research, 33(11):1462-1480, 2014.
  21. H. Wang, Y. H. Liu, and D. Zhou, Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera, IEEE Trans. on Robotics, 24(4): 843-857, 2008.
  22. M. Li and Y. H. Liu, Dynamic modeling and experimental validation for interactive endodontic simulation, IEEE Trans. on Robotics, vol. 23, no. 3, pp. 443-458, 2007.
  23. Y.H. Liu, H. Wang, C. Wang and K. K. Lam, Uncalibrated visual servoing of robots using a depth-independent interaction matrix, IEEE Trans. on Robotics, 22(4):804-817, 2006.
  24. Y. H. Liu, M. L. Lam and D. Ding, A complete and efficient algorithm for searching for 3-D form-closure grasps in discrete domain, IEEE Trans. on Robotics, vol. 20, no. 5, pp. 805-816, October, 2004.
  25. Y. H. Liu, Qualitative test and force optimization of 3D frictional form-closure grasps using linear programming, IEEE Transactions on Robotics and Automation, vol. 15, no. 1, pp. 163-173, 1999.
  26. Y. H. Liu and S. Arimoto, Finding the shortest paths of discs among polygonal obstacles using a radius-independent graph. IEEE Transactions on Robotics and Automation, vol. 10, no. 5, pp. 682-691, 1995.

Conference papers

  1. H. Li, J. Zhao, J. E. Bazin, W. Chen, Z. Liu and Y. H. Liu, Quasi-Globally Optimal and Efficient Vanishing Point Estimation in Manhattan World, 2019 IEEE/CVF International Conference on Computer Vision (ICCV), 2019.
  2. Z. Liu, S. Zhou, C. Suo, P. Yin, W. Chen, H. Wang, H. Li, Y. H. Liu, LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis, 2019 IEEE/CVF International Conference on Computer Vision (ICCV), 2019.
  3. J. Wang, J. Jiao, L. Bao, S. He, Y. H. Liu, W. Liu, Self-Supervised Spatio-Temporal Representation Learning for Videos by Predicting Motion and Appearance Statistics, 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019.
  4. H. Li, Y Xing, J. Zhao, J.-C. Bazin, Z. Liu, and Y. H. Liu, Leveraging structure regularity of Altanta world for monocular SLAM, 2019 IEEE Int. Conference on Robotics and Automation (ICRA),, 2019.
  5. Z. Liu, S. Zhou, H. Wang, Y. Shen, H. Li, and Y. H. Liu, A hierarchical framework for coordinating large-scale robot networks, 2019 IEEE Int. Conference on Robotics and Automation (ICRA),, 2019.
  6. F. Zheng, Y. H. Liu, Visual-Odometric Localization and Mapping for Ground Vehicles Using SE(2)-XYZ Constraints, 2019 IEEE Int. Conference on Robotics and Automation (ICRA),, 2019.
  7. D. C. F. Li, Z. Wang, B. Ouyang, and Y. H. Liu, A Reconfigurable Variable Stiffness Manipulator by a Sliding Layer Mechanism, 2019 IEEE Int. Conference on Robotics and Automation (ICRA),, 2019.
  8. S. Zhou, Z. Liu, C. Suo, H. Wang, H. Zhao, and Y. H. Liu, Vision-Based Dynamic Control of Car-Like Mobile Robots, 2019 IEEE Int. Conference on Robotics and Automation (ICRA),, 2019.
  9. C. Sui, K. He, C. Lyu, Z. Wang, Y. H. Liu, 3D Surface Reconstruction Using A Two-Step Stereo Matching Method Assisted with Five Projected Patterns, 2019 IEEE Int. Conference on Robotics and Automation (ICRA), 2019.