Publications

2026

1. IPCAI

   ConVibNet: Needle Detection during Continuous Insertion via Frequency-Inspired Features

   Jiamei Guo, Zhehao Duan, Maria Neiiendam, Dianye Huang, Nassir Navab, and Zhongliang Jiang

   arXiv preprint arXiv:2603.01147, 2026

   Bib

   @article{guo2026convibnet,
     title = {ConVibNet: Needle Detection during Continuous Insertion via Frequency-Inspired Features},
     author = {Guo, Jiamei and Duan, Zhehao and Neiiendam, Maria and Huang, Dianye and Navab, Nassir and Jiang, Zhongliang},
     journal = {arXiv preprint arXiv:2603.01147},
     year = {2026},
   }

2. ICRA

   RAG-RUSS: A Retrieval-Augmented Robotic Ultrasound for Autonomous Carotid Examination

   Dianye Huang, Ziping Cong, Nassir Navab, and Zhongliang Jiang

   arXiv preprint arXiv:2603.01153, 2026

   Bib

   @article{huang2026rag,
     title = {RAG-RUSS: A Retrieval-Augmented Robotic Ultrasound for Autonomous Carotid Examination},
     author = {Huang, Dianye and Cong, Ziping and Navab, Nassir and Jiang, Zhongliang},
     journal = {arXiv preprint arXiv:2603.01153},
     year = {2026}
   }

3. Handbook

   Translational Research and Clinical Trends in Robot-Assisted Vascular Surgery: A Narrative Overview

   Felix Duelmer, Mario Reidl, Nikolina-Alexia Fasoula, Nikoletta Katsouli, Dianye Huang, Yuan Bi, Raphael Salz, Rhiannon Lees, Zhongliang Jiang, Christoph Knappich, and others

   Handbook of Robotic and Image-Guided Surgery, 2026

   Bib

   @article{duelmer2026translational,
     title = {Translational Research and Clinical Trends in Robot-Assisted Vascular Surgery: A Narrative Overview},
     author = {Duelmer, Felix and Reidl, Mario and Fasoula, Nikolina-Alexia and Katsouli, Nikoletta and Huang, Dianye and Bi, Yuan and Salz, Raphael and Lees, Rhiannon and Jiang, Zhongliang and Knappich, Christoph and others},
     journal = {Handbook of Robotic and Image-Guided Surgery},
     pages = {41--56},
     year = {2026},
     publisher = {Elsevier}
   }

2025

1. TRO

   

   Improving Robustness to Out-of-Distribution States in Imitation Learning via Deep Koopman-Boosted Diffusion Policy

   Dianye Huang, Nassir Navab, and Zhongliang Jiang

   IEEE Transactions on Robotics. Code can be found here , 2025

   Bib HTML PDF Video

   @article{huang2025improving,
     title = {Improving Robustness to Out-of-Distribution States in Imitation Learning via Deep Koopman-Boosted Diffusion Policy},
     author = {Huang, Dianye and Navab, Nassir and Jiang, Zhongliang},
     journal = {IEEE Transactions on Robotics},
     volume = {41},
     pages = {6680--6692},
     year = {2025},
     publisher = {IEEE},
     url = {https://ieeexplore.ieee.org/abstract/document/11231026},
   }

2. Tmech

   Freehand 3-D Ultrasound Imaging: Sim-in-the-Loop Probe Pose Optimization via Visual Servoing

   Yameng Zhang, Dianye Huang, Max Q-H Meng, Nassir Navab, and Zhongliang Jiang

   IEEE/ASME Transactions on Mechatronics, 2025

   Bib

   @article{zhang2025freehand,
     title = {Freehand 3-D Ultrasound Imaging: Sim-in-the-Loop Probe Pose Optimization via Visual Servoing},
     author = {Zhang, Yameng and Huang, Dianye and Meng, Max Q-H and Navab, Nassir and Jiang, Zhongliang},
     journal = {IEEE/ASME Transactions on Mechatronics},
     year = {2025},
     publisher = {IEEE}
   }

3. IROS

   Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound

   Zhongyu Chen, Chenyang Li, Xuesong Li, Dianye Huang, Zhongliang Jiang, Stefanie Speidel, Xiangyu Chu, and Kwok Wai Samuel Au

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

   Bib

   @inproceedings{chen2025vibration,
     title = {Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound},
     author = {Chen, Zhongyu and Li, Chenyang and Li, Xuesong and Huang, Dianye and Jiang, Zhongliang and Speidel, Stefanie and Chu, Xiangyu and Au, Kwok Wai Samuel},
     booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {19099--19104},
     year = {2025},
     publisher = {IEEE}
   }

4. IROA

   Tactile-Guided Robotic Ultrasound: Mapping Preplanned Scan Paths for Intercostal Imaging

   Yifan Zhang, Dianye Huang, Nassir Navab, and Zhongliang Jiang

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

   Bib

   @inproceedings{zhang2025tactile,
     title = {Tactile-Guided Robotic Ultrasound: Mapping Preplanned Scan Paths for Intercostal Imaging},
     author = {Zhang, Yifan and Huang, Dianye and Navab, Nassir and Jiang, Zhongliang},
     booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {2177--2184},
     year = {2025},
     publisher = {IEEE}
   }

5. MICCAI

   Semantic scene graph for ultrasound image explanation and scanning guidance

   Xuesong Li, Dianye Huang, Yameng Zhang, Nassir Navab, and Zhongliang Jiang

   In International Conference on Medical Image Computing and Computer-Assisted Intervention, 2025

   Bib

   @inproceedings{li2025semantic,
     title = {Semantic scene graph for ultrasound image explanation and scanning guidance},
     author = {Li, Xuesong and Huang, Dianye and Zhang, Yameng and Navab, Nassir and Jiang, Zhongliang},
     booktitle = {International Conference on Medical Image Computing and Computer-Assisted Intervention},
     pages = {500--510},
     year = {2025},
     publisher = {Springer}
   }

6. IJCARS

   Robotic CBCT meets robotic ultrasound

   Feng Li, Yuan Bi, Dianye Huang, Zhongliang Jiang, and Nassir Navab

   International Journal of Computer Assisted Radiology and Surgery, 2025

   Bib

   @article{li2025robotic,
     title = {Robotic CBCT meets robotic ultrasound},
     author = {Li, Feng and Bi, Yuan and Huang, Dianye and Jiang, Zhongliang and Navab, Nassir},
     journal = {International Journal of Computer Assisted Radiology and Surgery},
     volume = {20},
     number = {6},
     pages = {1049--1057},
     year = {2025},
     publisher = {Springer}
   }

7. ICRA

   

   Improving Probe Localization for Freehand 3D Ultrasound Using Lightweight Cameras

   Dianye Huang, Nassir Navab, and Zhongliang Jiang

   In 2025 IEEE International Conference on Robotics and Automation (ICRA). Code can be found here , 2025

   Bib HTML PDF Video

   @inproceedings{huang2025improvinh,
     title = {Improving Probe Localization for Freehand 3D Ultrasound Using Lightweight Cameras},
     author = {Huang, Dianye and Navab, Nassir and Jiang, Zhongliang},
     booktitle = {2025 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {15472--15478},
     year = {2025},
     publisher = {IEEE},
     url = {https://ieeexplore.ieee.org/abstract/document/11128230},
   }

8. TMI

   

   Vibnet: Vibration-boosted needle detection in ultrasound images

   Dianye Huang, Chenyang Li, Angelos Karlas, Xiangyu Chu, KW Samuel Au, Nassir Navab, and Zhongliang Jiang

   IEEE Transactions on Medical Imaging. Code can be found here , 2025

   Bib HTML PDF Video

   @article{huang2025vibnet,
     title = {Vibnet: Vibration-boosted needle detection in ultrasound images},
     author = {Huang, Dianye and Li, Chenyang and Karlas, Angelos and Chu, Xiangyu and Au, KW Samuel and Navab, Nassir and Jiang, Zhongliang},
     journal = {IEEE Transactions on Medical Imaging},
     year = {2025},
     publisher = {IEEE},
     url = {https://ieeexplore.ieee.org/abstract/document/10902567},
   }

9. TUM

   Intelligent Robotic Ultrasound Imaging: Collaborative Sensing and Active Perception

   Dianye Huang

   Technische Universität München, 2025

   Bib

   @phdthesis{huang2025intelligent,
     title = {Intelligent Robotic Ultrasound Imaging: Collaborative Sensing and Active Perception},
     author = {Huang, Dianye},
     year = {2025},
     school = {Technische Universit{\"a}t M{\"u}nchen}
   }

2024

1. ARCRAS

   Machine learning in robotic ultrasound imaging: Challenges and perspectives

   Yuan Bi, Zhongliang Jiang, Felix Duelmer, Dianye Huang, and Nassir Navab

   Annual Review of Control, Robotics, and Autonomous Systems, 2024

   Bib

   @article{bi2024machine,
     title = {Machine learning in robotic ultrasound imaging: Challenges and perspectives},
     author = {Bi, Yuan and Jiang, Zhongliang and Duelmer, Felix and Huang, Dianye and Navab, Nassir},
     journal = {Annual Review of Control, Robotics, and Autonomous Systems},
     volume = {7},
     year = {2024},
     publisher = {Annual Reviews}
   }

2. TII

   Safe multiagent learning with soft constrained policy optimization in real robot control

   Shangding Gu, Dianye Huang, Muning Wen, Guang Chen, and Alois Knoll

   IEEE Transactions on Industrial Informatics, 2024

   Bib

   @article{gu2024safe,
     title = {Safe multiagent learning with soft constrained policy optimization in real robot control},
     author = {Gu, Shangding and Huang, Dianye and Wen, Muning and Chen, Guang and Knoll, Alois},
     journal = {IEEE Transactions on Industrial Informatics},
     volume = {20},
     number = {9},
     pages = {10706--10716},
     year = {2024},
     publisher = {IEEE}
   }

3. ICRA

   Sg-bot: Object rearrangement via coarse-to-fine robotic imagination on scene graphs

   Guangyao Zhai, Xiaoni Cai, Dianye Huang, Yan Di, Fabian Manhardt, Federico Tombari, Nassir Navab, and Benjamin Busam

   In 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib

   @inproceedings{zhai2024sg,
     title = {Sg-bot: Object rearrangement via coarse-to-fine robotic imagination on scene graphs},
     author = {Zhai, Guangyao and Cai, Xiaoni and Huang, Dianye and Di, Yan and Manhardt, Fabian and Tombari, Federico and Navab, Nassir and Busam, Benjamin},
     booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {4303--4310},
     year = {2024},
     publisher = {IEEE}
   }

4. TASE

   

   Robot-assisted deep venous thrombosis ultrasound examination using virtual fixture

   Dianye Huang, Chenguang Yang, Mingchuan Zhou, Angelos Karlas, Nassir Navab, and Zhongliang Jiang

   IEEE Transactions on Automation Science and Engineering. Code can be found here , 2024

   Bib HTML PDF Video

   @article{huang2024robot,
     title = {Robot-assisted deep venous thrombosis ultrasound examination using virtual fixture},
     author = {Huang, Dianye and Yang, Chenguang and Zhou, Mingchuan and Karlas, Angelos and Navab, Nassir and Jiang, Zhongliang},
     journal = {IEEE Transactions on Automation Science and Engineering},
     volume = {22},
     pages = {381--392},
     year = {2024},
     publisher = {IEEE},
     url = {https://ieeexplore.ieee.org/abstract/document/10399375},
   }

2023

1. IROS

   

   Motion magnification in robotic sonography: Enabling pulsation-aware artery segmentation

   Dianye Huang, Yuan Bi, Nassir Navab, and Zhongliang Jiang

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Code can be found here , 2023

   Bib HTML PDF Video

   @inproceedings{huang2023motion,
     title = {Motion magnification in robotic sonography: Enabling pulsation-aware artery segmentation},
     author = {Huang, Dianye and Bi, Yuan and Navab, Nassir and Jiang, Zhongliang},
     booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {6565--6570},
     year = {2023},
     publisher = {IEEE},
     url = {https://ieeexplore.ieee.org/abstract/document/10342220},
   }

2. ICRA

   Monograspnet: 6-dof grasping with a single rgb image

   Guangyao Zhai, Dianye Huang, Shun-Cheng Wu, HyunJun Jung, Yan Di, Fabian Manhardt, Federico Tombari, Nassir Navab, and Benjamin Busam

   In 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023

   Bib

   @inproceedings{zhai2023monograspnet,
     title = {Monograspnet: 6-dof grasping with a single rgb image},
     author = {Zhai, Guangyao and Huang, Dianye and Wu, Shun-Cheng and Jung, HyunJun and Di, Yan and Manhardt, Fabian and Tombari, Federico and Navab, Nassir and Busam, Benjamin},
     booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {1708--1714},
     year = {2023},
     publisher = {IEEE}
   }

3. RAS

   Model predictive optimization for imitation learning from demonstrations

   Yingbai Hu, Mingyang Cui, Jianghua Duan, Wenjun Liu, Dianye Huang, Alois Knoll, and Guang Chen

   Robotics and Autonomous Systems, 2023

   Bib

   @article{hu2023model,
     title = {Model predictive optimization for imitation learning from demonstrations},
     author = {Hu, Yingbai and Cui, Mingyang and Duan, Jianghua and Liu, Wenjun and Huang, Dianye and Knoll, Alois and Chen, Guang},
     journal = {Robotics and Autonomous Systems},
     volume = {163},
     pages = {104381},
     year = {2023},
     publisher = {Elsevier}
   }

2021

1. IJIRA

   Adaptive dynamic programming enhanced admittance control for robots with environment interaction and actuator saturation: H. Zhan et al.

   Hong Zhan, Dianye Huang, and Chenguang Yang

   International Journal of Intelligent Robotics and Applications, 2021

   Bib

   @article{zhan2021adaptive,
     title = {Adaptive dynamic programming enhanced admittance control for robots with environment interaction and actuator saturation: H. Zhan et al.},
     author = {Zhan, Hong and Huang, Dianye and Yang, Chenguang},
     journal = {International Journal of Intelligent Robotics and Applications},
     volume = {5},
     number = {1},
     pages = {89--100},
     year = {2021},
     publisher = {Springer}
   }

2020

1. TNNLS

   Neural control of robot manipulators with trajectory tracking constraints and input saturation

   Chenguang Yang, Dianye Huang, Wei He, and Long Cheng

   IEEE Transactions on Neural Networks and Learning Systems, 2020

   Bib

   @article{yang2020neural,
     title = {Neural control of robot manipulators with trajectory tracking constraints and input saturation},
     author = {Yang, Chenguang and Huang, Dianye and He, Wei and Cheng, Long},
     journal = {IEEE Transactions on Neural Networks and Learning Systems},
     volume = {32},
     number = {9},
     pages = {4231--4242},
     year = {2020},
     publisher = {IEEE}
   }

2. IJARS

   Adaptive dynamic programming-based controller with admittance adaptation for robot–environment interaction

   Hong Zhan, Dianye Huang, Zhaopeng Chen, Min Wang, and Chenguang Yang

   International Journal of Advanced Robotic Systems, 2020

   Bib

   @article{zhan2020adaptive,
     title = {Adaptive dynamic programming-based controller with admittance adaptation for robot--environment interaction},
     author = {Zhan, Hong and Huang, Dianye and Chen, Zhaopeng and Wang, Min and Yang, Chenguang},
     journal = {International Journal of Advanced Robotic Systems},
     volume = {17},
     number = {3},
     pages = {1729881420924610},
     year = {2020},
     publisher = {SAGE Publications Sage UK: London, England}
   }

2019

1. TII

   

   Composite learning enhanced neural control for robot manipulator with output error constraints

   Dianye Huang, Chenguang Yang, Yongping Pan, and Long Cheng

   IEEE Transactions on Industrial Informatics, 2019

   Bib HTML

   @article{huang2019composite,
     title = {Composite learning enhanced neural control for robot manipulator with output error constraints},
     author = {Huang, Dianye and Yang, Chenguang and Pan, Yongping and Cheng, Long},
     journal = {IEEE Transactions on Industrial Informatics},
     volume = {17},
     number = {1},
     pages = {209--218},
     year = {2019},
     publisher = {IEEE},
     url = {https://ieeexplore.ieee.org/abstract/document/8926368},
   }

2018

1. ICIST

   Composite learning for trajectory tracking control of robot manipulators with output constraints

   Dianye Huang, Chenguang Yang, Yongping Pan, Shilu Dai, and Zhaojie Ju

   In 2018 Eighth International Conference on Information Science and Technology (ICIST), 2018

   Bib

   @inproceedings{huang2018composite,
     title = {Composite learning for trajectory tracking control of robot manipulators with output constraints},
     author = {Huang, Dianye and Yang, Chenguang and Pan, Yongping and Dai, Shilu and Ju, Zhaojie},
     booktitle = {2018 Eighth International Conference on Information Science and Technology (ICIST)},
     pages = {301--306},
     year = {2018},
     publisher = {IEEE}
   }

2. IJCAS

   Online robot reference trajectory adaptation for haptic identification of unknown force field

   Dianye Huang, Chenguang Yang, Ning Wang, Andy Annamalai, and Chun-Yi Su

   International Journal of Control, Automation and Systems, 2018

   Bib

   @article{huang2018online,
     title = {Online robot reference trajectory adaptation for haptic identification of unknown force field},
     author = {Huang, Dianye and Yang, Chenguang and Wang, Ning and Annamalai, Andy and Su, Chun-Yi},
     journal = {International Journal of Control, Automation and Systems},
     volume = {16},
     number = {1},
     pages = {318--326},
     year = {2018},
     publisher = {Springer}
   }

2017

1. ICARM

   An efficient neural network control for manipulator trajectory tracking with output constraints

   Dianye Huang, Chenguang Yang, Wei He, Bin Xu, and Chun-Yi Su

   In 2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM), 2017

   Bib

   @inproceedings{huang2017efficient,
     title = {An efficient neural network control for manipulator trajectory tracking with output constraints},
     author = {Huang, Dianye and Yang, Chenguang and He, Wei and Xu, Bin and Su, Chun-Yi},
     booktitle = {2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM)},
     pages = {644--649},
     year = {2017},
     publisher = {IEEE}
   }