Publications

2026

Vision-Based Tactile Intelligence for Robotics: Sensing, Learning, and Embodied Manipulation

Peng Zhou, Jun Hu, Sihan Chen, Zeqing Zhang, Haofei Ma, Zhenyu Lu, Sichao Liu, Xueqian Wang, Pai Zheng, Xiang Li, Shan Luo, Jia Pan, David Navarro-Alarcon, Chenguang Yang, Michael Yu Wang

arXiv preprint arXiv:2608.15490 · 2026

A survey of vision-based tactile sensing hardware, learning methods, simulation, and datasets for contact-rich robot manipulation.

Paper Project

A vision-language conditioned physics-aware imitation learning approach for bimanual robotic dexterous assembly

Tian Wang, Benhua Gao, Haofei Ma, Guoquan Zhang, Duidi Wu, Pai Zheng

CIRP Annals · 2026

A vision-language conditioned, physics-aware imitation learning method for bimanual dexterous assembly, demonstrated on a dual-arm platform.

Paper Project

2025

Glovity: Learning Dexterous Contact-Rich Manipulation via Spatial Wrench Feedback Teleoperation System

Yuyang Gao, Haofei Ma, Pai Zheng

arXiv preprint arXiv:2510.09229 · 2025

A low-cost wearable teleoperation system with spatial wrench feedback and a fingertip-calibrated haptic glove for contact-rich dexterous manipulation.

Paper Project

DP4AuSu: Autonomous Surgical Framework for Suturing Manipulation Using Diffusion Policy with Dynamic Time Wrapping-based Locally Weighted Regression

Wenda Xu, Zhihang Tan, Zexin Cao, Haofei Ma, Gongcheng Wang, Han Wang, Weidong Wang, Zhijiang Du

The International Journal of Medical Robotics and Computer Assisted Surgery · 2025

An autonomous suturing framework that combines diffusion policy with DTW-based locally weighted regression.

Paper Project

2024

Robotic Grasping Method with 6D Pose Estimation and Point Cloud Fusion

Haofei Ma, Gongcheng Wang, Hua Bai, Zhiyu Xia, Weidong Wang, Zhijiang Du

The International Journal of Advanced Manufacturing Technology · 2024

A grasping pose estimation framework based on point cloud fusion for cluttered scenes.

Paper Project

Kalman Filter-based EM-optical Sensor Fusion for Bone Needle Position Tracking

Zhiyu Xia, Han Wang, Yulong Men, Haofei Ma, Zexin Cao, Weidong Wang, Zhijiang Du

IEEE Sensors Journal · 2024

Sensor fusion of electromagnetic and optical tracking for bone needle positioning.

Paper Project

Reactive mobile manipulation based on dynamic dual-trajectory tracking

Gongcheng Wang, Haofei Ma, Han Wang, Pengchao Ding, Hua Bai, Wenda Xu, Weidong Wang, Zhijiang Du

Robotics and Autonomous Systems · 2024

A reactive mobile manipulation method that tracks dual trajectories in dynamic scenes.

Paper Project

2023

A study of robotic search strategy for multi-radiation sources in unknown environments

Hua Bai, Wenrui Gao, Haofei Ma, Pengchao Ding, Gongcheng Wang, Wenda Xu, Weidong Wang, Zhijiang Du

Robotics and Autonomous Systems · 2023

A robotic search strategy for locating multiple radiation sources in unknown environments.

Paper Project

Patents & Software

A Rock Core Box Handling Robot

Weidong Wang, Hengbin Liang, Haofei Ma, Gongcheng Wang

Invention patent · CN202310547284.5 · Pending · 2023

An invention for automating the transport and stacking of heavy rock-core boxes on exploratory drilling sites.

Details Project

A Spherical Metamorphic Robot and An Environmental Information Monitoring System

Yuhan Rao, Manhong Li, Haofei Ma, Yuchong Gao, Nuo Zhang, Xinyu Liu

Utility model · CN202120212154.2 · Granted · 2021

A reconfigurable spherical robot with an environmental sensing system for inspection in hazardous settings.

Details Project

A Rope Driven Cleaning Robot

Bao Li, Manhong Li, Shuofan Li, Haofei Ma, Jidong Guo, Yuchong Gao, Yingxin Dong

Utility model · CN202120545507.0 · Granted · 2021

A rope-driven cleaning robot that uses cable actuation for compact deployment and surface cleaning.

Details

Small Ocean Vehicles Using Wave Energy to Generate Electricity

Yihan Gao, Haofei Ma, Shaoan Chen, Haoran Sun, Chenxi Song

Utility model · CN202020078465.X · Granted · 2020

A compact marine vehicle that harvests wave energy to generate onboard electrical power.

Details

Identity Recognition and Infrared Temperature Measurement Control System

Haofei Ma

Software for contactless identity verification and infrared temperature screening in public settings.

Details