Yipai Du

About Me

I am a PhD student in robotics at the Hong Kong University of Science and Technology supervised by Prof. Michael Yu Wang and Prof. Bertram Emil Shi. My research focuses on vision-based tactile sensing. During my PhD, I visited the MARS Lab at Purdue University and worked with Prof. Yu She on the GelSight and Digit tactile sensors. I obtained my master’s degree in Systems, Control and Robotics from KTH Royal Institute of Technology and finished my master thesis on “Learning Dynamical Features for Vision-based Tactile Sensors” at ETH Zurich supervised by Prof. Raffaello D’Andrea and Dr. Carmelo Sferrazza. I received my bachelor’s degree in Electrical and Computer Engineering from University of Michigan - Shanghai Jiao Tong University Joint Institute.

Research Interests

• Vision-based Tactile Sensing: Sensor design, signal processing and tactile-enabled applications
• Robotic Manipulation: Contact-rich manipulation, visual-tactile fusion
• Robot Learning: Learning for tactile perception and dynamic control

News

• [July 2023] Gsmini is released for better interface with the GelSight Mini tactile sensor. Please try it out!
• [Apr. 2023] I win the 2nd place in the Three Minute Thesis Competition of HKUST. See news and report.
• [Oct. 2022] Our paper about 3D contact dense reconstruction is accepted to RA-L and ICRA 2023.
• [Sept. 2022] I am awarded the Best Teaching Assistant Award by the ECE Department of the Hong Kong University of Science and Technology.
• [July 2022] I start to work as a visiting scholar at the MARS Lab of Purdue University.
• [July 2022] Our paper about a dense vision-based tactile sensor is accepted to RA-L.
• [June 2022] I am granted the Overseas Research Award by the HKUST Fok Ying Tung Graduate School.
• [Jan. 2022] Our paper about a visual-tactile dual modality sensor is accepted to ICRA 2022.
• [Feb. 2021] Our paper about a tactile sensing foot is accepted to ICRA 2021.
• [Feb. 2021] Our paper about contact estimation with dense optical flow and Gaussian density is accepted to RA-L.
• [June 2020] Our paper about a tactile augmented robotic arm is accepted to CASE 2020.

Softwares

• Gsmini: A simplified and high-performing GelSight Mini interface
• Allegro Digit: Hardware interface to integrate the Allegro robotic hand and the Digit tactile sensor
• Gaussian density contact: An algorithm for tracking and estimating the contact mentioned in Du2021High
• ATI FT Reader: Python and Matlab interfaces to read measurements from ATI Nano 17 DAQ

Publications

Services

Conference Reviewers

• IEEE International Conference on Robotics and Automation (ICRA)
• IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Journal Reviewers

• IEEE Robotics and Automation Letters (RA-L)
• IEEE Sensors Journal

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