Dianye Huang
Dianye Huang
Technical University of Munich
Informatics 16 - Chair of Computer Aided Medical Procedures (Prof. Navab)
Postal address
Boltzmannstr. 3
85748 Garching b. München
Links & Profiles
Research Interests
I am a Ph.D. candidate at the Chair for Computer Aided Medical Procedures (CAMP), Technische Universität München (TUM), advised by Prof. Nassir Navab. My research centers on intelligent robotic ultrasound imaging system, aiming to fuse multiple sensing modalities to achieve human-like, autonomous ultrasound scanning, which is a multidisciplinary topic that lies at the intersection of robotics, computer vision, medical imaging, and machine learning. Accordingly, my research interests span intelligent robotic control, medical image analysis, robot learning, VLM/VLA for the general manipulation tasks and other techniques that can transfer across domains and hold strong potential for advancing truly intelligent, clinically reliable, and patient-accepted medical robotic systems.
Research interests:
- Medical Robotics: Robotic Ultraosund, Spatial Temporal Ultrasound Image Analysis
- Robot Learning: Embodied Agents empowered by large language/vision-language/action models (LLM/LVLM/VLA)
- Intelligent Robotic Control: physical Human-Robot / Robot-Environment Interaction
Curriculum Vitae
- Sept. 2021 - Now: Ph.D. candidate in computer science at CAMP, TUM, Germany
- Sept. 2017 - Jun. 2020: M.Eng. in Control Science and Engineering at South China University of Technology, Guangzhou, China
- Sept. 2013 - Jun. 2017: B.Eng. in Automation at South China University of Technology, Guangzhou, China
Student Projects
Feel free to reach out if you are looking for IDP, Guided Research Project, or Master Thesis and have any interesting ideas or topics related to, but not limited to, robotic ultrasound scanning, dynamic ultrasound imaging processing, ultrasound-based human-machine interaction, or embodied agents with LLM/LVLM/VLA.
| Year | Type | Titile | Student | Status |
|---|---|---|---|---|
WS 2025/26 | Master Thesis | An Uncertainty-Aware VLM Model for Quantifying LVH in Ultrasound | Jiamei Guo | ongoing |
WS 2024/25 | Master Thesis | Robotic Ultrasound Scanning System with Action Justifications | Ziping Cong | submitted to a conference |
WS 2023/24 | Master Thesis | Enhancing Needle Tip Detection using Motion Magnification Algorithms | Chenyang Li | |
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Video Demos
Publications
- 2025
Dianye Huang, Nassir, Navab, Zhongliang Jiang, “Improving Robustness to Out-of-Distribution States in Imitation Learning via Deep Koopman-Boosted Diffusion Policy, ” IEEE Transactions on Robotics, 2025
Dianye Huang, Chenyang Li, Angelos Karlas, Xiangyu Chu, KW Samuel Au, Nassir Navab, Zhongliang Jiang, “VibNet: Vibration-Boosted Needle Detection in Ultrasound Images,” IEEE Transactions on Medical Imaging, 2025
Yameng Zhang, Dianye Huang, Max Q-H Meng, Nassir Navab, Zhongliang Jiang, “Freehand 3D Ultrasound Imaging: Sim-in-the-Loop Probe Pose Optimization via Visual Servoing, ” IEEE/ASME Transactions on Mechatronics, 2025
Xuesong Li, Dianye Huang, Yameng Zhang, Nassir Navab, Zhongliang Jiang, “Semantic scene graph for ultrasound image explanation and scanning guidance,” MICCAI 2025
Zhongyu Chen, Chenyang Li, Xuesong Li, Dianye Huang, Zhongliang Jiang, Stefanie Speidel, Xiangyu Chu, KW Au, “Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound, ” IROS 2025
Yifan Zhang, Dianye Huang, Nassir Navab, Zhongliang Jiang, “Tactile-Guided Robotic Ultrasound: Mapping Preplanned Scan Paths for Intercostal Imaging, ” IROS 2025
Dianye Huang, Nassir Navab, Zhongliang Jiang, "Improving Probe Localization for Freehand 3D Ultrasound using Lightweight Cameras," ICRA 2025
Feng Li, Yuan Bi, Dianye Huang, Zhongliang Jiang, Nassir Navab, “Robotic CBCT meets robotic ultrasound,” International Journal of Computer Assisted Radiology and Surgery, 2025
- 2024
Dianye Huang, Chenguang Yang, Mingchuan Zhou, Angelos Karlas, Nassir Navab, Zhongliang Jiang, "Robot-assisted deep venous thrombosis ultrasound examination using virtual fixture," IEEE Transactions on Automation Science and Engineering, 2024
Shangding Gu, Dianye Huang, Muning Wen, Guang Chen, Alois Knoll, "Safe Multiagent Learning With Soft Constrained Policy Optimization in Real Robot Control," IEEE Transactions on Industrial Informatics, 2024
Yuan Bi, Zhongliang Jiang, Felix Duelmer, Dianye Huang, Nassir Navab, "Machine learning in robotic ultrasound imaging: Challenges and perspectives," , Annual Review of Control, Robotics, and Autonomous Systems, 2024
Guangyao Zhai, Xiaoni Cai, Dianye Huang, Yan Di, Fabian Manhardt, Federico Tombari, Nassir Navab, Benjamin Busam, "Sg-bot: Object rearrangement via coarse-to-fine robotic imagination on scene graphs, " ICRA 2024
- 2023
Dianye Huang, Yuan Bi, Nassir Navab, and Zhongliang Jiang, "Motion magnification in robotic sonography: enabling pulsation-aware artery segmentation, ", IROS 2023
Guangyao Zhai, Dianye Huang, Shun-Cheng Wu, HyunJun Jung, Yan Di, Fabian Manhardt, Federico Tombari, Nassir Navab, Benjamin Busam, "Monograspnet: 6-dof grasping with a single rgb image", ICRA 2023
Yingbai Hu, Mingyang Cui, Jianghua Duan, Wenjun Liu, Dianye Huang, Alois Knoll, Guang Chen, "Model predictive optimization for imitation learning from demonstrations," in Robotics and Autonomous Systems(2023): 104381.
- 2021 and before
Dianye Huang, Chenguang Yang, Yongping Pan, Long Cheng, "Composite Learning Enhanced Neural Control for Robot Manipulator With Output Error Constraints," in IEEE Transactions on Industrial Informatics, vol. 17, no. 1, pp. 209-218, Jan. 2021.
Chenguang Yang, Dianye Huang, Wei He, Long Cheng, "Neural Control of Robot Manipulators With Trajectory Tracking Constraints and Input Saturation," in IEEE Transactions on Neural Networks and Learning Systems, vol. 32, no. 9, pp. 4231-4242, Sept. 2021.
Hong Zhan, Dianye Huang, Zhaopeng Chen, Min Wang, Chenguang Yang. “Adaptive dynamic programming-based controller with admittance adaptation for robot–environment interaction,” International Journal of Advanced Robotic Systems. 2020;17(3).
Dianye Huang, Chenguang Yang, Ning Wang, Andy Annamalai, Chun-Yi Su. Online Robot Reference Trajectory Adaptation for Haptic Identification of Unknown Force Field. Int. J. Control Autom. Syst. 16, 318–326 2018
Dianye Huang, Chenguang Yang, Yongping Pan, Shilu Dai, Zhaojie Ju, "Composite Learning for Trajectory Tracking Control of Robot Manipulators with Output Constraints," 2018 Eighth International Conference on Information Science and Technology (ICIST), Cordoba, Granada, and Seville, Spain, 2018, pp. 301-306