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Xiangyu Chu

Research Assistant Professor
The Chinese University of Hong Kong
xiangyuchu (at) cuhk.edu.hk


About Me

I am currently a research assistant professor in the BTM group, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, directed by Prof. Kwok Wai Samuel Au. I was a postdoctoral fellow in Multi-scale Medical Robotics Center. Prior to my PhD study, I received B.E. and M.E. degrees at Harbin Institute of Technology, China. In the third year, I was visiting the group of Prof. Hartmut Geyer at Carnegie Mellon University, USA. Besides, I was visiting the Chair for Computer Aided Medical Procedures & Augmented Reality (CAMP), supervised by Prof. Nassir Navab, at Technical University of Munich, Germany.

My research interests include 1) Developments of robotic surgical and medical systems and related algorithms; 2) Developments of nuanced manipulation skills on (deformable) objects and their applications in surgery and service; 3) Developments of agile locomotion systems and related algorithms / their applications on biomechanics.

1. I am looking for full-time RAs with experience in robotic system integration (e.g., legged robots, aerial/legged/wheeled manipulation robots).

2. The BMT group is looking for full-time RAs to work on medical imaging.

3. The summer internship application is open.

4. CUHK students (undergraduate and MSc) interested in Robotics & AI research are welcome to contact me via email to explore potential opportunities in medical robotics and mobile robotics.

Latest update: Jan 9, 2026

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Publications

  1. RA-L
    Generative 3D State Estimation for DLOs From Partial Observations
    Yunxi Tang, Tianqi Yang, Jing Huang, Xiangyu Chu*, and K. W. Samuel Au
    IEEE Robotics and Automation Letters (RA-L), 2025.
    PDF

  2. RA-L
    Manipulating Elasto-Plastic Objects With 3D Occupancy and Learning-Based Predictive Control
    Zhen Zhang, Xiangyu Chu*, Yunxi Tang, Lulu Zhao, Jing Huang, Zhongliang Jiang, and K. W. Samuel Au
    IEEE Robotics and Automation Letters (RA-L), 2025.
    PDF

  3. RA-L
    OMEGA: Open-Source and Multi-Mode Hopping Platform for Educational and Groundwork Aims
    Xiangyu Chu#,*, Fei Yan Wong#, Chun Yin Fan, Hongbo Zhang, Yanlin Chen*, and K. W. Samuel Au
    IEEE Robotics and Automation Letters (RA-L), 2025.
    PDF

  4. TIM
    Needle Segmentation Using GAN: Restoring Thin Instrument Visibility in Robotic Ultrasound
    Zhongliang Jiang, Xuesong Li, Xiangyu Chu*, Angelos Karlas, Yuan Bi, Yingsheng Cheng*, K. W. Samuel Au, and Nassir Navab
    IEEE Transactions on Instrumentation and Measurement, 2024.
    PDF

  5. ICB
    From behavior to bio-inspiration: Aerial reorientation and multi-plane stability in kangaroo rats, computational models, and robots
    Xiangyu Chu#,*, M Janneke Schwaner#,*, Jiajun An, Shengzhi Wang, Craig P McGowan, and Kwok Wai Samuel Au
    Integrative and Comparative Biology, 2024.
    PDF

  6. RA-L
    Learning-based MPC With Safety Filter for Constrained Deformable Linear Object Manipulation
    Yunxi Tang, Xiangyu Chu*, Jing Huang, and K. W. Samuel Au
    IEEE Robotics and Automation Letters (RA-L), 2024.
    PDF

  7. ICRA
    Interactive Navigation in Environments with Traversable Obstacles Using Large Language and Vision-Language Models
    Zhen Zhang, Anran Lin, Chun Wai Wong, Xiangyu Chu*, Qi Dou*, and K. W. Samuel Au
    IEEE International Conference on Robotics and Automation (ICRA), 2024.
    PDF

  8. RA-L
    Combining Tail and Reaction Wheel for Underactuated Spatial Reorientation in Robot Falling With Quadratic Programming
    Xiangyu Chu, Shengzhi Wang, Raymond NG, Chun Yin Fan, Jiajun An, and K. W. Samuel Au
    IEEE Robotics and Automation Letters (RA-L), 2023.
    PDF

  9. ISER
    Bootstrapping Robotic Skill Learning With Intuitive Teleoperation: Initial Feasibility Study
    Xiangyu Chu#, Yunxi Tang#, Lam Him Kwok, Yuanpei Cai, and K. W. Samuel Au (#equal contribution)
    International Symposium on Experimental Robotics (ISER), 2023.
    PDF

  10. CASE
    Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study
    Xiangyu Chu#, Shengzhi Wang#, Minjian Feng, Jiaxi Zheng, Yuxuan Zhao, Jing Huang, and K. W. Samuel Au (#equal contribution)
    2023 IEEE International Conference on Automation Science and Engineering (CASE), 2023.
    PDF

  11. TCST
    Opposite Treatment on Null Space: A Unified Control Framework for a Class of Underactuated Robotic Systems With Null Space Avoidance
    Xiangyu Chu, Chun Ho Lo, Tommaso Proietti, Conor J Walsh, and Kwok Wai Samuel Au
    IEEE Transactions on Control Systems Technology (TCST), 2023.
    PDF

  12. TMECH
    Feedback Control for Collision-Free Nonholonomic Vehicle Navigation on SE (2) With Null Space Circumvention
    Xiangyu Chu, Raymond Ng, Hesheng Wang, and Kwok Wai Samuel Au
    IEEE/ASME Transactions on Mechatronics (TMECH), 2022.
    PDF

  13. RA-L
    Null-Space-Avoidance-Based Orientation Control Framework for Underactuated, Tail-Inspired Robotic Systems in Flight Phase
    Xiangyu Chu, Chun Ho David Lo, Carlos Ma, and Kwok Wai Samuel Au
    IEEE Robotics and Automation Letters (RA-L), 2019.
    PDF

  14. RA-L
    A Compliant Robotic Instrument With Coupled Tendon Driven Articulated Wrist Control for Organ Retraction
    Xiangyu Chu, Hoi Wut Yip, Yuanpei Cai, Tsz Yin Chung, Stuart Moran, and K. W. Samuel Au
    IEEE Robotics and Automation Letters (RA-L), 2018.
    PDF

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