Dr Dandan Zhang
ROBOTICS · AI · EDUCATION
IMPERIAL COLLEGE LONDON
Selected Publications
Publications and Preprints
2026
Updated 1 November 2026.
Journal articles
R. Yang, J. Hu, J.-Q. Zheng, Y. Lu, J.-W. Cui, Q. Ren, Y. Yu, J. E. Wu, X. Deng, K. Meng, Z. Wang, X. Lin, Dandan Zhang, M. Tang, C. Masouros, H. Liu, C.-P. Liu. Optical Computation-in-Communication enables low-latency, high-fidelity perception in telesurgery. Nature Communications (2026). In press. Accepted manuscript.
L. Wei, G. Khurana, S. Bhouri, W. Hong, Z. Xin, Q. Cong, W. Fan, Y. Xiang, Dandan Zhang. TacVerse: A Multisensor Dataset and Benchmark for Cross-Sensor Vision-Based Tactile Perception. Advanced Robotics Research, e70169 (2026). Advance online publication. DOI: 10.1002/adrr.70169.
N. Rayabphand, N. Wijewardhane, N.-J. Prendergast, J. P. K. Armstrong, Dandan Zhang, S. Hauert. Rapid Parallel Fabrication and Control of Diverse Microrobotic Structures with Magnetic Functionalization. Artificial Life, pp. 1–9 (2026). Advance online publication. DOI: 10.1162/ARTL.a.489.
W. Fan, J. Zheng, Y. Liu, Dandan Zhang. A vision-based tactile sensor with in-sensor computing paradigm for seamless tactile sensing and perception. Communications Engineering (2026). Advance online publication. DOI: 10.1038/s44172-026-00770-w.
W. Fan, Dandan Zhang. i-Tac: Inverse Design of 3D-Printed Tactile Elastomers with Tuneable Optical and Mechanical Properties. Advanced Intelligent Systems 8(8), e202501200 (2026). DOI: 10.1002/aisy.202501200. Preprint.
Z. Tan, L. Wei, K. Lu, Dandan Zhang, Embodied Cross-Domain Intelligence in Biomedical Microrobots: A Review, Cyborg and Bionic Systems 7, 0546, 2026. DOI: 10.34133/cbsystems.0546.
Q. Cong, S. Oh, W. Fan, S. Luo, K. Althoefer, Dandan Zhang. TacEva: A Performance Evaluation Framework for Vision-Based Tactile Sensors. Advanced Intelligent Systems 8(4), e202501179 (2026). DOI: 10.1002/aisy.202501179. Preprint.
Conference papers
M. AbuSadeh, L. Wei, Dandan Zhang. TacEvo: Self-Evolving Architecture Discovery for Robotic Tactile Perception via LLM-Driven Quality-Diversity Search. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2026). Accepted full conference paper. arXiv:2606.30109.
Y.-X. He, L. Wei, H. Cen, J.-J. Jiang, Z. Li, G. Lu, Y. Yang, Dandan Zhang, W.-S. Zheng. A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation. Robotics: Science and Systems (RSS) XXII, paper 036 (2026). DOI: 10.15607/RSS.2026.XXII.036; arXiv:2607.06990.
Y. Xiang, L. Wei, Y. Yao, Q. Zhu, H. Yan, C. Jin, P. A. Teare, Dandan Zhang, L. Gui, A. Saseendran, Y. He. Stop the Flip-Flop: Context-Preserving Verification for Fast Revocable Diffusion Decoding. International Conference on Machine Learning (ICML) (2026). Accepted full conference paper. Conference record; arXiv:2602.06161.
S. Ping, S. Wen, J. Chen, W. Fan, L. Wei, Dandan Zhang, Surgi-HDTMR: Closing the Sensorimotor Loop in Bimanual Microsurgery via Haptics, Digital Twin, and Mixed Reality, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026, accepted. arXiv:2603.14450.
Y. Wang, K. Lu, L. Wei, Dandan Zhang. Context-Aware Adaptive Shared Control for Magnetically-Driven Bimanual Dexterous Micromanipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2026). Accepted full conference paper. arXiv:2603.14388.
Y. Wang, K. Lu, L. Wei, Dandan Zhang, Mag-VLA: Vision-Language-Action Model for Bimanual Magnetically Actuated Microrobot Manipulation, International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2026, accepted. arXiv:2605.28486.
Z. Tan, L. Wei, Dandan Zhang, A Digital Twin Framework for Virtual Visuo-Haptic Teleoperation of Complex-Shaped Optical Microrobots, International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2026, accepted. Best Conference Paper Award Nominee. arXiv:2605.28448.
Z. Mao, Y. Li, V. Bamgboye, S. Ben Haj Hammouda, A. Ono, W. Fan, C. Wu, Dandan Zhang, A Compact 3D-Printed Soft Finger with Cyclic Hydraulic Actuation, International Conference on Automation and Computing (ICAC), 2026. Best Student Paper Award Winner. arXiv:2607.17840.
G. Khurana, L. Wei, Dandan Zhang. SARL: Spatially-Aware Self-Supervised Representation Learning for Visuo-Tactile Perception. IEEE International Conference on Robotics and Automation (ICRA), pp. 5677–5684 (2026). Paper. arXiv:2512.01908.
Z. Tan, L. Wei, Dandan Zhang, Physics-Informed Machine Learning for Efficient Sim-to-Real Data Augmentation in Micro-Object Pose Estimation, IEEE International Conference on Robotics and Automation (ICRA), 2026. arXiv:2511.16494.
E. Wang, W. Fan, Dandan Zhang. ADM-DP: Adaptive Dynamic Modality Diffusion Policy through Vision-Tactile-Graph Fusion for Multi-Agent Manipulation. IEEE International Conference on Robotics and Automation (ICRA) (2026). Accepted full conference paper. arXiv:2602.21622.
E. G. Oyono, J. Lin, Dandan Zhang, Design and Control of Modular Magnetic Millirobots for Multimodal Locomotion and Shape Reconfiguration, IEEE International Conference on Robotics and Automation (ICRA), 2026. arXiv:2602.19346.
S. Bhouri, L. Wei, J.-Q. Zheng, Dandan Zhang, MultiDiffSense: Diffusion-Based Multi-Modal Visuo-Tactile Image Generation Conditioned on Object Shape and Contact Pose, IEEE International Conference on Robotics and Automation (ICRA), 2026. arXiv:2602.19348.
F. Verstraete, L. Wei, W. Fan, Dandan Zhang, TactEx: An Explainable Multimodal Robotic Interaction Framework for Human-Like Touch and Hardness Estimation, IEEE International Conference on Robotics and Automation (ICRA), 2026. arXiv:2602.18967.
Workshop papers
J. Wu, W. Fan, Dandan Zhang. Order-Consistent Latent Geometry for Reliable Short-Horizon Planning in World Models. ECCV 2026 Workshop (STEAI) — accepted poster presentation. arXiv:2610.18570.
W. Hong, L. Wei, Dandan Zhang, Bridging Semantics and Physics with Constrained LLMs for Safe and Trustworthy Robotic Manipulation, European Conference on Computer Vision (ECCV) Workshop, 2026, accepted. Conference record; arXiv:2608.29379.
P. Blaszyk, W. Fan, K. Deng, D. Elson, Dandan Zhang, Toward Trustworthy Robot-Assisted Sliding Palpation for Shallow Vessel Localisation with a Calibrated Digital Twin, European Conference on Computer Vision (ECCV) Workshop, 2026, accepted as poster presentation. Conference record; arXiv:2608.29396.
B. Jing, M. Wang, R. Hao, C. Ge, H. Shen, J. He, Y. Cui, Y. Hou, W. Zhou, J. Wang, M. Li, Dandan Zhang, D. Zhao, H. Liu, X. Li, S. Liu, P. Luo, H. Yu. SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version). ECCV 2026 Workshop — accepted oral presentation. arXiv:2607.04234. Early version; see the expanded SoftVTBench preprint below. Workshop record.
Preprints
H. Yu, J. Meng, Z. Zhang, B. Jing, L. Yang, Y. Hu, C. Ge, Y. Hou, C. Xin, D. Ye, H. Qin, J. Li, W. Zhou, J. Qiu, J. Sun, Dandan Zhang, Z. Nie, P. Luo, D. Zhao. How High Can GPT-6 Astra Climb in Contact-Rich Manipulation? PhysLadder: A Hierarchical, Matched Sim-Real Benchmark for Physical Interaction. arXiv preprint, 2026. arXiv:2610.34527.
Q. Cong, A. W. M. Devillard, A. B. Dawood, X. Zhang, W. Fan, N. N. Dei, C. Suulker, K. Althoefer, E. Burdet, Dandan Zhang. Layered e-skin for Shear Sensing. arXiv preprint, 2026. arXiv:2609.22493.
B. Liu, L. Wei, Z. Li, C. Duan, Q. Li, Dandan Zhang, X. Wu. BIDETA: Brain-Inspired Data-Efficient Tactile Adaptation for Unseen Sensors. arXiv preprint, 2026. arXiv:2609.08673.
L. Wei, K. Lu, Y. Wang, C. Bi, Q. Chen, H. Niu, Y. F. Yeung, Dandan Zhang. RefGuard: Identity-Aware Language-Guided Robot Manipulation via Joint Target-Anchor-Frame Grounding. arXiv preprint, 2026. arXiv:2609.06221.
C. Ge, H. Shen, B. Jing, J. Cai, X. Wang, H. Lei, W. Zhou, Dandan Zhang, H. Yu. KnockGS: Interaction-Grounded Calibration of Physical Gaussian Representations. arXiv preprint, 2026. arXiv:2608.27365.
B. Jing, M. Wang, R. Hao, C. Ge, H. Shen, J. He, Y. Cui, Y. Hou, W. Zhou, J. Wang, M. Li, Dandan Zhang, D. Zhao, H. Liu, X. Li, S. Liu, P. Luo, H. Yu. SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation. arXiv preprint, 2026. arXiv:2608.18701. Expanded version of the earlier SoftVTBench ECCV 2026 workshop paper listed above.
T. Chen, Y. Chen, Z. Li, J. Tang, K. Su, H. Lu, W. Wan, B. Chen, S. Liu, H. Yan, H. Su, Z. Dou, K. Wang, Dandan Zhang, et al. RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies. arXiv preprint, 2026. arXiv:2607.04434.
Z. Lin, J.-J. Jiang, H. Cen, X.-M. Wu, Dandan Zhang, W.-S. Zheng. HATS: A Human-Agent Teleoperation System for Multi-Arm Data Collection. arXiv preprint, 2026. arXiv:2606.16491.
J.-J. Jiang, Y. Yang, L. Wei, Y. Luo, X.-M. Wu, X. Chen, B. Fan, Dandan Zhang, W.-S. Zheng. Task Editing for Generalizable 3D Visuomotor Policy Learning. arXiv preprint, 2026. arXiv:2606.07012.
Z. Zhang, X. Diao, H. Liang, H. Yang, B.-K. Zhu, Dandan Zhang, J. Wang. Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization. arXiv preprint, 2026. arXiv:2605.27972.
L. Wei, Z. Tan, K. Lu, J.-Q. Zheng, Dandan Zhang. Dual-Control Frequency-Aware Diffusion Model for Depth-Dependent Optical Microrobot Microscopy Image Generation. arXiv preprint, 2026. arXiv:2604.11680.
K. Lu, L. Wei, Z. Tan, Dandan Zhang. Micro-Dexterity in Biological Micromanipulation: Embodiment, Perception, and Control. arXiv preprint, 2026. arXiv:2604.11640.
J. Lin, Dandan Zhang. DexterousMag: A Reconfigurable Electromagnetic Actuation System for Miniature Helical Robot. arXiv preprint, 2026. arXiv:2603.14396.
2025
Journal articles
W. Fan, H. Li, Q. Cong, Dandan Zhang. MagicGripper: A Mini-MagicTac Integrated Gripper Enabling Multimodal Perception in Contact-Rich Manipulation. IEEE Transactions on Automation Science and Engineering 22, 24311–24332 (2025). DOI: 10.1109/TASE.2025.3631485.
A. M. Mroz, A. R. Basford, F. Hastedt, I. S. Jayasekera, I. Mosquera-Lois, R. Sedgwick, P. J. Ballester, J. D. Bocarsly, E. A. del Río Chanona, M. L. Evans, J. M. Frost, A. M. Ganose, R. L. Greenaway, K. K. Hii, Y. Li, R. Misener, A. Walsh, Dandan Zhang, K. E. Jelfs. Cross-disciplinary perspectives on the potential for artificial intelligence across chemistry. Chemical Society Reviews 54, 5433–5469 (2025). DOI: 10.1039/D5CS00146C.
Dandan Zhang, W. Fan, J. Lin, H. Li, Q. Cong, W. Liu, N. F. Lepora, S. Luo. Design and Benchmarking of a Multimodality Sensor for Robotic Manipulation With GAN-Based Cross-Modality Interpretation. IEEE Transactions on Robotics 41, 1278–1295 (2025). DOI: 10.1109/TRO.2025.3526296.
W. Fan, H. Li, Dandan Zhang. CrystalTac: Vision-Based Tactile Sensor Family Fabricated via Rapid Monolithic Manufacturing. Cyborg and Bionic Systems 6, 0231 (2025). DOI: 10.34133/cbsystems.0231.
Conference and workshop papers
H. He, Z. Tse, S. Dogramadzi, D. Caldwell, K. Althoefer, P. Dasgupta, C. Bergeles, D. Beard, Dandan Zhang, G. Ramchurn, Y. Bayon, N. Daher, M. Brudfors, Towards Trustworthy Medical Robotics Ecosystems, International Conference on Trustworthy Digital Infrastructure (TDI), 2025. DOI: 10.1049/icp.2026.1127.
L. Wei, L. Genoud, Dandan Zhang, Physics-Informed Machine Learning with Adaptive Grids for Optical Microrobot Depth Estimation, IEEE International Conference on Cyborg and Bionic Systems (CBS), 2025. Best Student Paper Award Finalist. DOI: 10.1109/CBS65871.2025.11267770.
N. Rayabphand, N. Wijewardhane, N.-J. Prendergast, J. P. K. Armstrong, Dandan Zhang, S. Hauert, Magni-DOME: An Open Platform for High-Resolution Light-Based and Magnetic Contactless Fabrication of Active Microstructures, International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2025. DOI: 10.1109/MARSS65887.2025.11072766.
L. Wei, Dandan Zhang, A Dataset and Benchmarks for Deep Learning-Based Optical Microrobot Pose and Depth Perception, International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2025. Best Student Paper Award Winner. arXiv:2505.18303.
Y. Mao, Dandan Zhang, Deep Reinforcement Learning-Based Semi-Autonomous Control for Magnetic Micro-Robot Navigation with Immersive Manipulation, IEEE International Conference on Robotics and Automation (ICRA), 2025. DOI: 10.1109/ICRA55743.2025.11128848.
Z. Tan, Dandan Zhang, Interactive OT Gym: A Reinforcement Learning-Based Interactive Optical Tweezer (OT)-Driven Microrobotics Simulation Platform, IEEE International Conference on Robotics and Automation (ICRA), 2025, pp. 4447–4453. DOI: 10.1109/ICRA55743.2025.11127419.
J.-J. Jiang, X.-M. Wu, Y.-X. He, L.-A. Zeng, Y.-L. Wei, Dandan Zhang, W.-S. Zheng. Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Framework. IEEE/CVF International Conference on Computer Vision (ICCV), 12427–12437 (2025). Paper.
Y. Lin, Y.-L. Wei, H. Liao, M. Lin, C. Xing, H. Li, Dandan Zhang, M. Cutkosky, W.-S. Zheng. TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types. Conference on Robot Learning (CoRL), Proceedings of Machine Learning Research 305, 4975–4993 (2025). Paper.
L. Wei, G. V. Gonzalez, P. Kgwarae, A. Timms, D. Zahorovsky, S. Schultz, Dandan Zhang. Coarse-to-Fine Learning for Multi-Pipette Localisation in Robot-Assisted In Vivo Patch-Clamp. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 20877–20884 (2025). DOI: 10.1109/IROS60139.2025.11247284.
J. Chen, Z. Yang, H. G. Xu, Dandan Zhang, G. Mylonas. Multi-Agent Systems for Robotic Autonomy with LLMs. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2025. Paper.
2024
Dandan Zhang*, Jin Zheng,
"Towards the New Generation of Smart Homecare with IoHIRT: Internet of Humans and Intelligent Robotic Things", 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Peiyang Jiang, Dandan Zhang*,
"A Digital Twin-Driven Immersive Teleoperation Framework for Robot-Assisted Microsurgery", 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
DOI: 10.1109/IROS58592.2024.10801954
Paper: https://ieeexplore.ieee.org/document/10801954
Dandan Zhang*, Ziniu Wu, Jin Zheng, Yifan Li, Zheng Dong, Jialin Lin,
"HuBotVerse: Toward Internet of Human and Intelligent Robotic Things With a Digital Twin-Based Mixed Reality Framework", IEEE Robotics & Automation Magazine (RAM).
DOI: 10.1109/MRA.2024.3417090
Paper: https://ieeexplore.ieee.org/document/10654327
Wen Fan*, Haoran Li*, Weiyong Si, Shan Luo, Nathan Lepora, Dandan Zhang*,
"ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor", 2024 IEEE International Conference on Robotics and Automation (ICRA).
DOI: 10.1109/ICRA57147.2024.10611186
Paper: https://ieeexplore.ieee.org/document/10611186
Peiyang Jiang, Wei Li, Yifan Li, Dandan Zhang*,
"Adaptive Motion Scaling for Robot-Assisted Microsurgery Based on Hybrid Offline Reinforcement Learning and Damping Control", 2024 IEEE International Conference on Robotics and Automation (ICRA).
DOI: 10.1109/ICRA57147.2024.10611009
Paper: https://ieeexplore.ieee.org/document/10611009
Xuyang Zhang, Tianqi Yang, Dandan Zhang*, Nathan F. Lepora,
"TacPalm: A Soft Gripper with a Biomimetic Optical Tactile Palm for Stable Precise Grasping", IEEE Sensors Journal.
DOI: 10.1109/JSEN.2024.3471812
Paper: https://ieeexplore.ieee.org/document/10706767
Wen Fan*, Haoran Li*, Yifan Xing, Dandan Zhang*,
"Design and Evaluation of A Monolithic Rapid Manufacturing Technique for a Novel Vision-Based Tactile Sensor: C-Sight", Sensors.
DOI: 10.3390/s24144603
Paper: https://www.mdpi.com/1424-8220/24/14/4603
2023
Dandan Zhang∗, Thomas E. Gorochowski, Lucia Marucci1, Hyun-Taek Lee, Bruno Gil, Bing Li, Sabine Hauert and Eric Yeatman,
"Advanced medical micro-robotics for early diagnosis and therapeutic interventions", Frontiers in Robotics and AI.
DOI: https://doi.org/10.3389/frobt.2022.1086043
Paper: https://www.frontiersin.org/articles/10.3389/frobt.2022.1086043/full
Wen Fan, Max Yang, Yifan Xing, Nathan F. Lepora, Dandan Zhang∗,
"Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing", 2023 IEEE International Conference on Robotics and Automation (ICRA).
DOI: 10.1109/ICRA48891.2023.10160288
Paper: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10160288
Webpage: https://sites.google.com/view/tac-vgnn/home
Video: https://www.youtube.com/watch?v=3HOnGJ0geD0
Zhuochao He, Xuyang Zhang, Simon Jones, Sabine Hauert, Dandan Zhang, and Nathan F. Lepora.
"TacMMs: Tactile Mobile Manipulators for Warehouse Automation." IEEE Robotics and Automation Letters (RAL).
DOI: 10.1109/LRA.2023.3287363
Paper: https://ieeexplore.ieee.org/abstract/document/10155191
Wen Fan∗ , Xiaoqing Guo∗ , Enyang Feng∗ , Jialin Lin∗ , Yuanyi Wang, Jiaming Liang, Martin Garrad, Jonathan Rossiter, Zhengyou Zhang, Nathan Lepora, Lei Wei, Dandan Zhang*.
"A Digital Twin-Driven Mixed Reality Framework for Immersive Teleoperation with Haptic Rendering", 2023 IEEE Robotics and Automation Letters (RAL).
DOI: 10.1109/LRA.2023.3325784
Paper: https://ieeexplore.ieee.org/abstract/document/10287552
Webpage: https://sites.google.com/view/hbts-brl/home
Video: https://www.youtube.com/watch?v=8TvQJ_679fM
M. Yang, Y. Lin, A. Church, J. Lloyd, D. Zhang, D. A. W. Barton, N. Lepora,
"Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing", 2023 IEEE Robotics and Automation Letters (RAL).
DOI: 10.1109/LRA.2023.3295236
Paper: https://ieeexplore.ieee.org/abstract/document/10182274
Y. Lin, A. Church, M. Yang, H. Li, J. Lloyd, D. Zhang, N. Lepora,
"Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning", 2023 IEEE Robotics and Automation Letters.
Paper: https://ieeexplore.ieee.org/document/10184426
Joe A. Smith, Dandan Zhang, and Krishna C. Balram. "Robotic vectorial field alignment for spin-based quantum sensors", Published Advanced Science.
Yijiong Lin*, Mauro Comi, Alex Church, Dandan Zhang, Nathan Lepora, "Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Zhili Yuan, Dandan Zhang*, ‘Hierarchical Semi-Supervised Learning for Surgical Gesture Segmentation and Recognition Based on Multi-Modality Data’, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),.
Jialin Lin, Xiaoqing Guo, Wen Fan, Wei Li, Yuanyi Wang, Jiaming Liang, Jindong Liu, Weiru Liu, Lei Wei, Dandan Zhang*, "TIMS: A Tactile Internet-Based Manipulation System with Haptic Guidance for Surgical Training", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
2022
Dandan Zhang∗, Antoine Barbot, Florent Seichepine, Frank P.-W. Lo, Wenjia Bai, Guang-Zhong Yang, and Benny Lo, “Micro/Nano-Objects Pose Estimation Via a Sim-to-Real Learning-to-Match Approach Using Small Dataset”, Communication Physics-Nature Portfolio.
(SCI Indexed, JCR Q1, IF: 6.4), doi: 10.1038/s42005-022-00844-z
Dandan Zhang∗#, Zicong Wu#, Junhong Chen#, Ruiqi Zhu, Adnan Munawar, Bo Xiao, Yuan Guan, Hang Su, Wuzhou Hong, Yao Guo, Gregory S. Fischer, Benny Lo, Guang-Zhong Yang, "Human-Robot Shared Control for Surgical Robot Based on Context-Aware Sim-to-Real Adaptation". 2022 IEEE International Conference on Robotics and Automation (ICRA).
(winner of the best interaction paper award)
Paper: https://arxiv.org/abs/2204.11116
Ruiqi Zhu, Dandan Zhang∗, Benny Lo, “Deep Reinforcement Learning Based Semi-Autonomous Control for Robotic Surgery”, 2022 Hamlyn Symposium on Medical Robotics.
Paper: https://easychair.org/publications/preprint/kHwb
Hang Su, Wen Qi, Jiahao Chen, Dandan Zhang, “Fuzzy Approximation-based Task-Space Control of Robot Manipulators With Remote Center of Motion Constraint”, Accepted, IEEE Transactions on Fuzzy Systems.
Paper: https://ieeexplore.ieee.org/document/9729601
Dandan Zhang, Weiyong Si, Wen Fan, Yuan Guan, Chenguang Yang*, “From Teleoperation to Autonomous Robot-Assisted Microsurgery: A Survey”, Machine Intelligence Research.
Paper: https://link.springer.com/article/10.1007/s11633-022-1332-5
Dandan Zhang*, Yunxiao Ren, Antoine Barbot, Florent Seichepine, Benny Lo, Zhuochen Ma*, Guang-Zhong Yang*, “Fabrication and Optical Manipulation of Microrobots for Biomedical Applications”, Matter-Cell Press.
Paper: https://www.cell.com/matter/pdf/S2590-2385(22)00402-7.pdf
Wei Li, Dandan Zhang, Benny Lo, “Design and Modeling of A Spring-Like Continuum Joint with Variable Pitch for Endoluminal Surgery”, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(nominated as the best paper award)
Wen Fan, Hongbo Bo, Yijiong Lin, Yifan Xing, Weiru Liu, Nathan Leopora, Dandan Zhang*, "Graph Neural Networks for Interpretable Tactile Sensing". (nominated as the best student paper award)
Paper: https://research-information.bris.ac.uk/en/publications/graph-neural-networks-for-interpretable-tactile-sensing
Dandan Zhang∗, Wen Fan, John Lloyd, Chenguang Yang, Nathan Lepora, “One-Shot Domain-Adaptive Imitation Learning via Progressive Learning”, IEEE Transactions on Automation Science and Engineering.
2021
Dandan Zhang, Qiang Li, Yu Zheng*, Lei Wei, Dongsheng Zhang, and Zhengyou Zhang. “Explainable Hierarchical Imitation Learning for Robotic Drink Pouring”, IEEE Transactions on Automation Science and Engineering.
https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9667114
Ruoxi Wang, Dandan Zhang*, Benny Lo, “Real-time Surgical Environment Enhancement for Robot-Assisted Minimally Invasive Surgery Based on Super-Resolution”, 2021 IEEE International Conference on Robotics and Automation (ICRA).
https://ieeexplore.ieee.org/document/9561393
Dandan Zhang*, Ruoxi Wang, Benny Lo, “Surgical Gesture Recognition Based on Bidirectional Multi-Layer Independently RNN with Explainable Spatial Feature Extraction”, Accepted, 2021 IEEE International Conference on Robotics and Automation (ICRA).
https://ieeexplore.ieee.org/document/9561803
Anzhu Gao, Robin R Murphy, Weidong Chen, Giulio Dagnino, Peer Fischer Maximiliano Gutierrez Dennis Kundrat, Bradley J Nelson, Naveen Shamsudhin, Hao Su, Jingen Xia, Ajmal Zemmar, Dandan Zhang, Chen Wang, Guang-Zhong Yang*, "Progress in robotics for combating infectious diseases", Science Robotics.
2020
Dandan Zhang*, Antoine Barbot, Benny Lo, Guang-Zhong Yang*, “Distributed Force Control for Microrobot 6D Dexterous Manipulation Via Planar Multi-Spot Optical Tweezer”, Advanced Optical Materials,
(SCI Indexed, JCR Q1, IF: 8.3), doi:10.1002/adom.202000543
Dandan Zhang*, Frank P.-W. Lo, Jianqing Zheng, Wenjia Bai, Guang-Zhong Yang*, Benny Lo, “Data-Driven Microscopic Pose and Depth Estimation for Optical Microrobot Manipulation”, ACS Photonics.
(SCI Indexed, JCR Q1, IF: 7.3), doi:10.1021/acsphotonics.0c00997.
Dandan Zhang*, Jindong Liu, Anzhu Gao, Guang-Zhong Yang*, “An Ergonomic Shared Workspace Analysis Framework for the Optimal Placement of a Compact Master Control Console”, IEEE Robotics and Automation Letters.
(SCI Indexed, JCR Q1, IF: 3.6), doi:10.1109/LRA.2020.2974428
Dandan Zhang*, Zicong Wu, Junhong Chen, Anzhu Gao, Xu Chen, Peichao Li, Zhaoyang Wang, Guitao Yang, Benny Lo*, Guang-Zhong Yang*, “Automatic Microsurgical Skill Assessment Based on Cross-Domain Transfer Learning”, IEEE Robotics and Automation Letters.
(SCI Indexed, JCR Q1, IF: 3.6), doi:10.1109/LRA.2020.2989075
Junhong Chen#, Dandan Zhang#* (equal contribution), Adnan Munawar, Gregory S. Fischer, Guang-Zhong Yang, “Supervised Semi-Autonomous Control for Surgical Robot Based on Bayesian Optimization”, Accepted, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(EI Indexed), doi: 10.1109/IROS45743.2020.9341383
Christopher J Payne*, Khushi Vyas, Daniel Bautista-Salina, Dandan Zhang, Hani J Marcus, Guang-Zhong Yang, “Shared Control Robot”, Book Chapter for Neurosurgical Robotics: Basic Concepts in Robotics. (Book Chapter),
doi:10.1007/978-1-0716-0993-4_4
https://link.springer.com/protocol/10.1007/978-1-0716-0993-4_4
Dandan Zhang*, Bo Xiao, Baoru Huang, Lin Zhang, Jindong Liu, Guang-Zhong Yang, “A Self-Adaptive Motion Scaling Framework for Surgical Robot Remote Control”, IEEE Robotics and Automation Letters.
(SCI Indexed, JCR Q1, IF: 3.6), doi:10.1109/lra.2018.2890200
Dandan Zhang*, Francesco Cursi, Guang-Zhong Yang, “WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification”, IEEE Robotics and Automation Letters.
(SCI Indexed, JCR Q1, IF: 3.6), doi:10.1109/LRA.2019.2929986
Dandan Zhang*, Junhong Chen, Daniel Bautista Salinas, Guang-Zhong Yang, “A Microsurgical Robot Research Platform for Robot-Assisted Microsurgery Research and Training”, International Journal of Computer Assisted Radiology and Surgery.
(SCI Indexed, JCR Q3, IF: 2.4), doi:10.1007/s11548-019-02074-1
Dandan Zhang*, Jindong Liu, Lin Zhang, Guang-Zhong Yang, “Design and Verification of a Portable Master Manipulator Based on an Effective Workspace Analysis Framework”, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(EI Indexed), doi: 10.1109/IROS40897.2019.8968542
Dandan Zhang*, Yao Guo, Junhong Chen, Jindong Liu, Guang-Zhong Yang, “A Handheld Master Controller for Robot-Assisted Microsurgery”, 2019 IEEE/RSJ International Conference on Intelligent Robots and System (IROS).
(EI Indexed), doi: 10.1109/IROS40897.2019.8967774
Dandan Zhang*, Jindong Liu, Lin Zhang, Guang-Zhong Yang, “Hamlyn CRM: A Compact Master Manipulator for Surgical Robot Remote Control”, International Journal of Computer Assisted Radiology and Surgery.
(SCI Indexed, JCR Q3, IF: 2.4), doi:10.1007/s11548-019-02112-y
https://link.springer.com/article/10.1007/s11548-019-02112-y
Dandan Zhang, Dangxiao Wang*, “WALS-Robot: A Compact and Transformable Wheel-Arm-Leg-Sucker Hybrid Robot”, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(EI Indexed), doi: 10.1109/IROS.2016.7759402