Selected Publications
Representative peer-reviewed papers on collaborative robotics, robot learning, XR interfaces, and intelligent manufacturing.
All Works
2026
2025
2024
Journals
Conferences
2026
IEEE CASE 2026
Best Student Paper Award Finalist
CopilotTele: A Shared-Autonomy Teleoperation System for Bimanual Manufacturing Assembly with Risk-Guided Arbitration
Chenrui Chen, Xudong Zhang, Xueting Wang, Xiwen DengXiong, Qinqin Xiao, Ke Jing, Yunbo Zhang · IEEE International Conference on Automation Science and Engineering
A shared-autonomy teleoperation system for bimanual wire-harness assembly: DiTFlow generates short-horizon bimanual actions, while policy-side risk estimation returns control to the operator when execution becomes uncertain. It cuts completion time by 13.7% and retries by 46.3% versus single-operator teleoperation.
2026
npj Adv. Manuf. · Nature
AssemblyMate: An Interactive Context-Aware AI-XR Co-worker with Multimodal Spatial-Temporal Reasoning for Manufacturing Assembly
Xueting Wang, Xiwen DengXiong, Jie-Ke Pan, Ke Jing, Zipeng Guo, Rui Liu, Qinqin Xiao, Yunbo Zhang · npj Advanced Manufacturing
An XR assembly assistant with a multimodal reasoning agent and a spatial-temporal reasoning agent. It gives context-aware guidance, evaluates operator actions and coordinates a collaborative robot for product transfer. On calculator and vehicle assembly it cuts first-unit time by 25.06% versus a physical HRC baseline.
2026
ASME IDETC/CIE 2026
VARE TC Best Paper Award
Augmented Reality-Assisted Cyber-Physical System for Manual Spray Painting of Complex Geometries
Jie-Ke Pan, Xueting Wang, Xiwen DengXiong, Yunbo Zhang , Chih-Hsing Chu · ASME IDETC/CIE 2026
Combines a spray gun with IoT sensing and 6-DoF tracking, coating-deposition simulation and an AR headset so operators can see coverage and spray distance on complex surfaces. AR feedback raised tolerance compliance for all three participants (up to 95.5%).
2026
arXiv
XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation
Xiwen DengXiong, Xueting Wang, Ke Jing, Rui Li, Yunbo Zhang · arXiv:2609.16437
A teleoperation system with tactile-driven assistance for contact-rich manipulation. A stabilizer module infers pseudo shear force from normal-force distribution in real time, and a refiner module uses a vision-language-action model to refine actions from tactile data. Demonstrated on deformable pipette liquid transfer and syringe insertion.
2026
RCIM · Elsevier
VLAbot: A Human Vision-Language-Action Models Interaction Framework for Robotic Assembly
Xueting Wang, Xiwen DengXiong, Shi Bai, Pai Zheng, Yunbo Zhang · Robotics and Computer-Integrated Manufacturing
A human-robot collaboration framework that combines multi-expert agents, VLA models, and augmented reality interaction for long-horizon assembly tasks.
2026
ESWA · Elsevier
Indoor Depth Completion via Geometry Processing with RGB Image
Zhenshan Liang, Tsz Ho Kwok, Yunbo Zhang · Expert Systems With Applications
A geometry-processing approach for accurate indoor depth completion, producing sharper object boundaries and reducing distortion in manufacturing environments.
2025
IEEE CASE 2025
RoPESim: A Framework for Robot Manipulation Policy Evaluation via Simulation
Xueting Wang, Xiwen DengXiong, Shi Bai, Yunbo Zhang · IEEE International Conference on Automation Science and Engineering
A high-fidelity simulation benchmark designed to validate predicted robot manipulation policies prior to real-world industrial execution.
2026
IEEE CASE 2026
Zero-shot Robot Manipulation via Action Decomposition and Composition
Xiwen DengXiong, Xueting Wang, Rui Li, Yunbo Zhang · IEEE International Conference on Automation Science and Engineering
A modular skill transfer framework decomposing learned manipulation actions and recomposing them for unseen derivative tasks in zero-shot settings.
2025
IISE Annual 2025
Hierarchical Long-horizon Manipulation with Failure Recovery
Xueting Wang, Xiwen DengXiong, Yunbo Zhang · IISE Annual Conference & Expo 2025
An interactive long-horizon planning framework capable of automated failure detection and interactive human-robot recovery strategy generation.
2024
IEEE/RSJ IROS 2024
RADAR: Robotics Assembly by Demonstration via Augmented Reality
Wenhao Yang, Shi Bai, Yunbo Zhang · IEEE/RSJ International Conference on Intelligent Robots and Systems
An end-to-end AR spatial assembly system combining intuitive human demonstration, multi-modal interaction, and real-time robotic trajectory execution.
2024
IEEE ICRA 2024
Self-supervised 6-DoF Robot Grasping by Demonstration via Augmented Reality Teleoperation System
Xiwen DengXiong, Xueting Wang, Shi Bai, Yunbo Zhang · IEEE International Conference on Robotics and Automation
A self-supervised 6-DoF grasp pose detection framework that learns directly from AR teleoperation demonstrations without explicit manual grasp labels.
2024
JCISE · ASME
A Global Correction Framework for Camera Registration in Video See-Through Augmented Reality Systems
Wenhao Yang, Yunbo Zhang · Journal of Computing and Information Science in Engineering
A global calibration framework designed to minimize registration latency and visual error in video see-through (VST) augmented reality robot programming systems.
2024
JCISE · ASME
I Can See Your Password: A Case Study about Cybersecurity Risks in Mid-air Interactions of Mixed Reality-based Smart Manufacturing Applications
Wenhao Yang, Xiwen DengXiong, Xueting Wang, Yidan Hu, Yunbo Zhang · Journal of Computing and Information Science in Engineering
An in-depth security investigation revealing how mid-air spatial gestures in mixed reality industrial interfaces can inadvertently leak sensitive passwords.
All 51 publications of Prof. Yunbo “Will” Zhang, compiled from Google Scholar .
2026
[51] X. DengXiong, X. Wang, K. Jing, R. Li, Y. Zhang . XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation . arXiv preprint arXiv:2609.16437 , 2026.[50] X. Wang, X. DengXiong, J. K. Pan, K. Jing, Z. Guo, R. Liu, Q. Xiao, Y. Zhang . AssemblyMate: an interactive context-aware AI-XR co-worker with multimodal spatial-temporal reasoning for manufacturing assembly . npj Advanced Manufacturing , 2026.[49] H. Zhang, X. Wang, X. DengXiong, J. Robertson, Y. Zhang , D. Schwartz, S. Z. Gao, X. Yuan, C. Peng. LLM-ResiGame: Multi-agent large language models for creating scenario-based resilience games in critical infrastructure decision-making practices . International Journal of Disaster Risk Reduction, 106269 , 2026.[48] X. Wang, X. DengXiong, S. Bai, P. Zheng, Y. Zhang . VLAbot: A human Vision–Language–Action models interaction framework for robotic assembly . Robotics and Computer-Integrated Manufacturing 100, 103268 , 2026. Citations 6 [47] Z. Liang, T. H. Kwok, Y. Zhang . Indoor Depth Completion via Geometry Processing with RGB Image . Expert Systems with Applications, 131519 , 2026.
2025
[46] X. Wang, X. DengXiong, S. Bai, Y. Zhang . RoPESim: A Framework for Robot Manipulation Policy Evaluation via Simulation . 2025 IEEE 21st International Conference on Automation Science and Engineering (CASE), 204-210 , 2025. Citations 2 ▶ Video [45] C. H. Chu, Y. Zhang , P. Zheng, F. Ferrise, Q. Chang. Human–Robot Collaboration in Industry 5.0 . Journal of Computing and Information Science in Engineering 25 (5), 050301 , 2025. Citations 9 [44] C. H. Chu, Y. Zhang , P. Zheng, F. Ferrise, Q. C. Chang. From human-robot to human-machine collaboration . Journal of Computing and Information Science in Engineering 25 (5), 1-7 , 2025. Citations 2
2024
[43] W. Yang, S. Bai, Y. Zhang . RADAR: Robotics Assembly by Demonstration via Augmented Reality . 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 7063-7070 , 2024. Citations 2 ▶ Video [42] K. K. Jarosz, Y. T. Chen, R. Liu, T. Gard-Thompson, M. Davis, Y. Zhang . Exploring Career Growth for Deaf and Hard-of-Hearing Individuals via Machining Training: A Comparative Behavioral Analysis . 2024 ASEE Annual Conference & Exposition , 2024. Citations 2 [41] S. Ojeda-Ramirez, Z. Yong, Y. Zhang , R. Liu, E. Rantanen, C. Peng, K. Peppler. Qualitative Eliciting of Tacit Knowledge in Machinists . International Society of the Learning Sciences , 2024. Citations 1 [40] C. Xian, J. Zhang, W. Yang, Y. Zhang . Multi-scale progressive fusion-based depth image completion and enhancement for industrial collaborative robot applications . Journal of Intelligent Manufacturing 35 (5), 2119-2135 , 2024. Citations 4 [39] W. Yang, Q. Xiao, Y. Zhang . HAR²bot: a human-centered augmented reality robot programming method with the awareness of cognitive load . Journal of Intelligent Manufacturing 35 (5), 1985-2003 , 2024. Citations 45 ▶ Video [38] X. DengXiong, X. Wang, S. Bai, Y. Zhang . Self-supervised 6-DoF Robot Grasping by Demonstration via Augmented Reality Teleoperation System . 2024 IEEE International Conference on Robotics and Automation (ICRA) , 2024. Citations 13 ▶ Video [37] C. H. Chu, W. Bernstein, Y. Zhang , V. R. Krishnamurthy, J. Ma. Extended Reality in Design and Manufacturing . Journal of Computing and Information Science in Engineering 24 (3), 030301 , 2024. Citations 8 [36] W. Yang, Y. Zhang . A Global Correction Framework for Camera Registration in Video See-Through Augmented Reality Systems . Journal of Computing and Information Science in Engineering 24 (3), 031003 , 2024. Citations 8 [35] W. Yang, X. DengXiong, X. Wang, Y. Hu, Y. Zhang . “I can see your password”: A case study about cybersecurity risks in mid-air interactions of mixed reality-based smart manufacturing applications . Journal of Computing and Information Science in Engineering 24 (3), 031004 , 2024. Citations 19 ▶ Video
2022
[34] W. Yang, Y. Zhang . Visualization Error Analysis for Augmented Reality Stereo Video See-Through Head-Mounted Displays in Industry 4.0 Applications . International Manufacturing Science and Engineering Conference, 85819, V002T06A016 , 2022. Citations 10 [33] M. Ryan, Y. Wang, Q. Xiao, R. Liu, Y. Zhang . Immersive Virtual Reality Training With Error Management for CNC Milling Set-Up . International Manufacturing Science and Engineering Conference, 85819, V002T06A027 , 2022. Citations 11 ▶ Video [32] K. Jarosz, Y. Zhang , R. Liu. Investigating the Role of Auditory Perception of Cutting Process Conditions in CNC Machining . International Manufacturing Science and Engineering Conference, 85819, V002T06A028 , 2022. Citations 5
2021
[31] R. Liu, C. Peng, Y. Zhang , H. Husarek, Q. Yu. A survey of immersive technologies and applications for industrial product development . Computers & Graphics 100, 137-151 , 2021. Citations 64 [30] L. Paredes, S. S. Reddy, S. Chidambaram, D. Vagholkar, Y. Zhang , B. Benes, K. Ramani. FabHandWear: An End-to-End Pipeline from Design to Fabrication of Customized Functional Hand Wearables . Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies, 5, 1-22 , 2021. Citations 14 [29] W. Yang, Q. Xiao, Y. Zhang . An Augmented-Reality Based Human-Robot Interface for Robotics Programming in the Complex Environment . International Manufacturing Science and Engineering Conference, 85079, V002T07A003 , 2021. Citations 9 [28] S. Ramesh, O. L. Harrysson, P. K. Rao, A. Tamayol, D. R. Cormier, Y. Zhang , I. V. Rivero. Extrusion bioprinting: Recent progress, challenges, and future opportunities . Bioprinting 21, e00116 , 2021. Citations 324
2020
[27] H. Peng, C. Xian, Y. Zhang . 3D hand mesh reconstruction from a monocular RGB image . The Visual Computer, 1-13 , 2020. Citations 14 [26] S. Terry, H. Lu, I. Fidan, Y. Zhang , K. Tantawi, T. Guo, B. Asiabanpour. The Influence of Smart Manufacturing Towards Energy Conservation: A Review . Technologies 8 (2), 31 , 2020. Citations 71 [25] J. Ting, Y. Zhang , S. H. Yoon, J. D. Holbery, S. Ma. iMold: Enabling Interactive Design Optimization for In-Mold Electronics . Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems, 1-7 , 2020. Citations 16
2019
[24] Y. Zhang , T. H. Kwok.A Customer-to-Manufacturer Design Model for Custom Compression Casts . ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference , 2019. Citations 1 [23] S. Terry, I. Fidan, Y. Zhang , K. Tantawi. Smart Manufacturing for Energy Conservation and Savings . 2019 NSF ATE Principal Investigators Conference , 2019. Citations 8 [22] Y. Zhang , T. H. Kwok.Customization and topology optimization of compression casts/braces on two-manifold surfaces . Computer-Aided Design 111, 113-122 , 2019. Citations 44 [21] S. Chidambaram, Y. Zhang , V. Sundararajan, N. Elmqvist, K. Ramani. Shape Structuralizer: Design, Fabrication, and User-driven Iterative Refinement of 3D Mesh Models . Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (CHI'19) , 2019. Citations 25
2018
2017
[19] S. H. Yoon, K. Huo, Y. Zhang , G. Chen, L. Paredes, S. Chidambaram, K. Ramani. iSoft: A Customizable Soft Sensor with Real-time Continuous Contact and Stretching Sensing . Proceedings of the 30th Annual ACM Symposium on User Interface Software and Technology, 665-678 , 2017. Citations 70 [18] Y. Zhang , T. H. Kwok.An interactive product customization framework for freeform shapes . Rapid Prototyping Journal 23 (6), 1136-1145 , 2017. Citations 25 [17] M. Liu, Y. Zhang , J. Bai, Y. Cao, J. M. Alperovich, K. Ramani. WireFab: Mix-Dimensional Modeling and Fabrication for 3D Mesh Models . Proceedings of 2017 CHI Conference on Human Factors in Computing Systems (CHI '17), 965-976 , 2017. Citations 22
2016
[16] Y. Zhang , C. C. L. Wang, K. Ramani.Optimal fitting of strain-controlled flattenable mesh surfaces . The International Journal of Advanced Manufacturing Technology, 87, 2873-2887 , 2016. Citations 28 [15] S. H. Yoon, Y. Zhang , K. Huo, K. Ramani. TRing: Instant and Customizable Interactions with Objects Using an Embedded Magnet and a Finger-Worn Device . UIST '16 Proceedings of the 29th Annual Symposium on User Interface Software and Technology, 169-181 , 2016. Citations 44 [14] Y. Zhang , W. Gao, L. Paredes, K. Ramani.CardBoardiZer: Creatively Customize, Articulate and Fold 3D Mesh Models . Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems, 897-907 , 2016. Citations 27
2015
[13] W. Gao, Y. Zhang , D. Ramanujan, K. Ramani, Y. Chen, C. B. Williams, C. C. Wang, Y. C. Shin, S. Zhang, P. D. Zavattieri. The status, challenges, and future of additive manufacturing in engineering . Computer-Aided Design 69, 65-89 , 2015. Citations 3996 [12] W. Gao, Y. Zhang , D. C. Nazzetta, K. Ramani, R. J. Cipra. RevoMaker: Enabling Multi-directional and Functionally-embedded 3D printing using a Rotational Cuboidal Platform . Proceedings of the 28th Annual ACM Symposium on User Interface Software & Technology, 437-446 , 2015. Citations 155 [11] T. H. Kwok, C. C. L. Wang, D. Deng, Y. Zhang , Y. Chen. Four-dimensional printing for freeform surfaces: design optimization of origami and kirigami structures . Journal of Mechanical Design 137 (11), 111413 , 2015. Citations 115 [10] A. Mukherjee, Y. Zhang , R. Rai. Probabilistic Design Miming . ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference , 2015. Citations 1
2014
[9] W. Xie, Y. Zhang , C. C. L. Wang, R. C. K. Chung. Surface-from-Gradients: An Approach Based on Discrete Geometry Processing . 2014 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2203-2210 , 2014. Citations 62 [8] S. Jin, Y. Zhang , C. C. Wang. Deformation with enforced metrics on length, area and volume . Computer graphics forum 33 (2), 429-438 , 2014. Citations 8
2012
2011
[6] Y. Wang, K. M. Yu, C. C. L. Wang, Y. Zhang . Automatic design of conformal cooling circuits for rapid tooling . Computer-Aided Design 43 (8), 1001-1010 , 2011. Citations 201 [5] Y. S. Leung, C. C. L. Wang, Y. Zhang . Localized construction of curved surfaces from polygon meshes: A simple and practical approach on GPU . Computer-Aided Design 43 (6), 573-585 , 2011. Citations 6 [4] T. H. Kwok, Y. Zhang , C. C. L. Wang. Efficient optimization of common base domains for cross parameterization . IEEE Transactions on Visualization and Computer Graphics 18 (10), 1678-1692 , 2011. Citations 62
2010
[3] Y. Zhang , C. C. L. Wang.WireWarping++: Robust and flexible surface flattening with length control . IEEE transactions on automation science and engineering 8 (1), 205-215 , 2010. Citations 26 [2] H. Lin, Y. Zhang , C. C. L. Wang, S. Gao. Flattenable Mesh Processing by Controllable Laplacian Evolution . ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 275-282 , 2010.[1] C. C. L. Wang, Y. Zhang , H. Sheung. From designing products to fabricating them from planar materials . IEEE computer graphics and applications 30 (6), 74 , 2010. Citations 29
