Xiaochen Xie

Transfer Your Safety: Learning Transferable Model-Free Safety Filters from a Single Policy to Enhance Safety across Diverse Tasks

Learning-Based Efficient Phase- Amplitude Modulation and Hybrid Control for MRI-Guided Focused Ultrasound Treatment

Magnetic resonance-guided focused ultrasound (MRg-FUS) has become attractive, accredited to its non-invasive nature. However, ultrasound beams focusing and steering is still challenging owing to aberrations induced by soft tissue heterogeneity. In particular for beam motion control to ensure real-ti

Eye-in-Hand Visual Servoing Enhanced With Sparse Strain Measurement for Soft Continuum Robots

In the feature/object tracking of eye-in-hand visual servoing, 2D motion estimation relying only on image plane feedback is easily affected by vision occlusion, blurring, or poor lighting. For the commonly-used template matching method, tracking performance greatly depends on the image quality. Fibe