Geometry-Guided Modeling of Foundation Features Enables Generalizable Object Shape Deformation Learning
Yiyao Ma, Kai Chen, Zhongxiang Zhou, Zhuheng Song, Dongsheng Xie, Zelong Tan, Rong Xiong, Qi Dou.
International Conference on Machine Learning (ICML), 2026.
[paper] [project]

A Retrieval-augmented Framework Enabling VLM Spatial Awareness for Object-centric Robot Manipulation
Kai Chen, Chengkun Li, Chang Tu, Jiahui Pan, Yiyao Ma, Wei Chen, Zhongxiang Zhou, Xuecheng Xu, Stephen James, Chi-Wing Fu, Rong Xiong, Pieter Abbeel, Yun-Hui Liu, Qi Dou.
Science Robotics, 2026.
[paper] [project]

On Robustness of Vision-Language-Action Model against Multi-Modal Perturbations
Jianing Guo, Zhenhong Wu, Chang Tu, Yiyao Ma, Xiangqi Kong, Zhiqian Liu, Jiaming Ji, Shuning Zhang, Yuanpei Chen, Kai Chen, Qi Dou, Yaodong Yang, Xianglong Liu, Huijie Zhao, Weifeng Lv, Simin Li.
International Conference on Learning Representations (ICLR), 2026.
[paper] [project]

Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments
Ruofeng Wei, Kai Chen, Yui-Lun Ng, Yiyao Ma, Justin Di-Lang Ho, Hon-Sing Tong, Xiaomei Wang, Jing Dai, Ka-Wai Kwok, Qi Dou.
IEEE Transactions on Robotics (T-RO), 2026.
[paper]

Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generation
Yiyao Ma, Kai Chen^†, Kexin Zheng, Qi Dou.
Conference on Neural Information Processing Systems (NeurIPS), 2025.
[paper] [project]

ColaDex: Contact-guided Optimization and VLM-assisted Selection for Task-oriented Dexterous Grasp Generation
Yiyao Ma, Kai Chen, Xuecheng Xu, Zhongxiang Zhou, Liang Xie, Rong Xiong^†, Qi Dou^†.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
[paper]

Shape-guided Configuration-aware Learning for Endoscopic-image-based Pose Estimation of Flexible Robotic Instruments
Yiyao Ma*, Kai Chen*, Hon-Sing Tong, Ruofeng Wei, Yui-Lun Ng, Ka-Wai Kwok^†, Qi Dou^†.
European Conference on Computer Vision (ECCV), 2024.
[paper] [project]

Vision Foundation Model Enables Generalizable Object Pose Estimation
Kai Chen, Yiyao Ma, Xingyu Lin, Stephen James, Jianshu Zhou, Yun-Hui Liu, Pieter Abbeel, Qi Dou.
Conference on Neural Information Processing Systems (NeurIPS), 2024.
[paper] [project]

Enhanced Scale-aware Depth Estimation for Monocular Endoscopic Scenes with Geometric Modeling
Ruofeng Wei, Bin Li, Kai Chen, Yiyao Ma, Yunhui Liu, Qi Dou.
International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2024.
[paper]

Connectional axis of individual functional variability: Patterns, structural correlates, and relevance for development and cognition
Hang Yang, Guowei Wu, Yaoxin Li, Xiaoyu Xu, Jing Cong, Haoshu Xu, Yiyao Ma, Yang Li, Runsen Chen, Adam Pines, Ting Xu, Valerie J. Sydnor, Theodore D. Satterthwaite, and Zaixu Cui.
Proceedings of the National Academy of Sciences of the United States of America (PNAS), 2025.
[paper]

Hierarchical individual variation and socioeconomic impact on personalized functional network topography in children
Shaoling Zhao, Haowen Su, Jing Cong, Xue Wen, Hang Yang, Peiyu Chen, Guowei Wu, Qingchen Fan, Yiyao Ma, Xiaoyu Xu, Chuanpeng Hu, Hongming Li, Arielle Keller, Adam Pines, Runsen Chen, and Zaixu Cui.
BioMed Central Medicine (BMC Medicine), 2024.
[paper]