Yuxi Lu — accepted AI-conference papers

2026

Accounting for the Interaction Between a Dummy Finger and Joint Modular Soft Actuators for Multi-Joint Support Using a Novel FEM-Based Approach

Pablo Enrique Tortós Vinocour, Shota Kokubu, Fuko Matsunaga, Yuxi Lu, Zhongchao Zhou, Naoki Kamijo +3

RA-L 2026

Soft actuators are safer than rigid robots for hand rehabilitation, yet their performance can be significantly affected by interactions that occur on multi-joint systems. Actuator–finger and actuator–actuator interactions can impact bending output and make actuator performance dependent on the actua

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2026

FastAvatar: Towards Unified and Fast 3D Avatar Reconstruction with Large Gaussian Reconstruction Transformers

Yue Wu, Xuanhong Chen, Yufan Wu, Wen Li, Yuxi Lu, Kairui Feng

ICLR 2026poster

Despite significant progress in 3D avatar reconstruction, it still faces challenges such as high time complexity, sensitivity to data quality, and low data utilization. We propose~\textbf{FastAvatar}, a feedforward 3D avatar framework capable of flexibly leveraging diverse daily recordings (e.g., a…

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2026

Offline-Trained GAN-Augmented Highly Adaptive Control with Multi-DoF Fusion for Pneumatic Soft Surgical Robots (I)

Yuxi Lu, Zhongchao Zhou, Dongliang Zheng, Yanmin Zhou, Zhipeng Wang, Shuo Jiang +2

ICRA 2026poster

Pneumatic soft robots are well-suited for minimally invasive surgery owing to their compliance and safe interaction with tissues. However, achieving highly adaptive control is difficult owing to modeling inaccuracies, inter-chamber coupling, and disturbances from surgical instruments. Non-learning a…

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2026

Predicting Tactile Sensory Outcome of Physical Human-Robot Interaction Through Embodied Learning Strategy

Zheng Yan, Yanmin Zhou, Yijie Luo, Chengjin Wang, Zhipeng Wang, Yuxi Lu +1

RA-L 2026

Estimation of robotic dynamic states in physical human-robot interaction (pHRI) is crucial for robots to handle real-world uncertainties. Since wearable tactile sensor arrays have been increasingly applied in robots, the tactile sensory outcomes (TSOs) during pHRIs would provide practical and ideal

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2024

Development of a Dual Function Joint Modular Soft Actuator and its Evaluation Using a Novel Dummy Finger Joint-Soft Actuator Complex Model

Pablo Enrique Tortós Vinocour, Shota Kokubu, Fuko Matsunaga, Yuxi Lu, Zhongchao Zhou, José Gómez-Tames +1

RA-L 2024

Soft actuators, made from soft materials, offer a safer alternative to rigid robots for use on hand rehabilitation devices. A current challenge is to ensure these actuators comply with human finger morphology. To gain better insights into actuator mechanics when worn on and interacting with human fi

Cited by 8 Source ↗Scholar ↗

2022

Optimization of Spring Constant of a Pneumatic Artificial Muscle-Spring Driven Antagonistic Structure

Zhongchao Zhou, Shota Kokubu, Yuanyuan Wang, Yuxi Lu, Pablo Enrique Tortós, Wenwei Yu

RA-L 2022

Pneumatic artificial muscles (PAMs) have been widely applied to robotic systems, especially assistive devices, which could benefit from PAMs’ intrinsic viscoelasticity. However, nonlinearity and hysteresis make it challenging to achieve high-accuracy control. Using pre-tensioned springs to replace o

Cited by 7 Source ↗Scholar ↗