Biography
I am a final-year Ph.D. candidate at Department of Electronic Engineering, The Chinese University of Hong Kong (CUHK), advised by Prof. Hongliang Ren and Prof. Jiewen Lai. During my Ph.D. study, I was a visiting student at Technical University of Munich (TUM), advised by Prof. Nassir Navab; and at The University of Sydney (USYD), advised by Prof. Luping Zhou. Previously, I received the B. Sc. degree in Opto-Electronics Information Science and Engineering from Beijing Institute of Technology (BIT) in 2021, advised by Prof. Kun Gao. I am fortunate to have been working with Dr. Mobarakol Islam (UCL), Dr. Zhongliang Jiang (TUM), Prof. Mohamed Abdel-Mottaleb (UMiami), and Yanheng Li (CityU HK).
My research interests include artificial intelligence and its applications in medical image computing, human-robot interaction, and surgical data science. I recently work on vision-language understanding and generation.
I will join the Medical AI Lab, Alibaba DAMO Academy in Aug 2025 as an algorithm expert under the leadership of Dr. Le Lu, recruited by the honor of Alibaba Star ("阿里星").
News
Selected Awards
2024, MICCAI Best Paper Runner Up |
2024, Runner Up of MICCAI BraTS Challenge on Sub-Sahara-Africa Adult Glioma |
2024, PhD International Mobility for Partnerships and Collaborations (IMPAC) Award |
2024, IPCAI Best Paper Award Shortlist |
2024, CUHK Overseas Research Attachment Scholarship |
2024, Best Poster Award of ICRA 2024 C4SR+ Workshop |
2024, IEEE ICRA RAS Travel Grants Award |
2023, ICBIR Best Student Paper Award |
2023, Best Poster Award of IEEE ICRA Workshop on Surgical Robotics |
2023, IEEE ICRA RAS Travel Grants Award |
2021, Merit Award of EMedIC Global |
2021-2025, CUHK Vice-Chancellor's Ph.D. Scholarship Scheme |
* indicates equal contribution; † indicates project lead.
Preprints
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Learning to Efficiently Adapt Foundation Models for Self-Supervised Endoscopic 3D Scene Reconstruction from Any Cameras
Beilei Cui*, Long Bai*, Mobarakol Islam*, An Wang, Zhiqi Ma, Yiming Huang, Feng Li, Zhen Chen, Zhongliang Jiang, Nassir Navab, Hongliang Ren
Preprint, 2025.
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EndoChat: Grounded Multimodal Large Language Model for Endoscopic Surgery
Guankun Wang*, Long Bai*, Junyi Wang*, Kun Yuan*, Zhen Li, Tianxu Jiang, Xiting He, Jinlin Wu, Zhen Chen, Zhen Lei, Hongbin Liu, Jiazheng Wang, Fan Zhang, Nicolas Padoy, Nassir Navab, Hongliang Ren
Preprint, 2024.
[Code]
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SurgSora: Decoupled RGBD-Flow Diffusion Model for Controllable Surgical Video Generation
Tong Chen†, Shuya Yang, Junyi Wang, Long Bai†, Hongliang Ren, Luping Zhou
Preprint, 2024.
[Page]
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SAM 2 in Robotic Surgery: An Empirical Evaluation for Robustness and Generalization in Surgical Video Segmentation
Jieming Yu, An Wang, Wenzhen Dong, Mengya Xu, Mobarakol Islam, Jie Wang, Long Bai†, Hongliang Ren
Preprint, 2024.
Book Chapters
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Ultrasound Guidance and Robotic Procedures: Actual and Future Intelligence
Long Bai*, Lei Zhao*, Hongliang Ren
Handbook of Robotic Surgery, 2024.
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3D Reconstruction of Deformable Tissues in Robotic Surgery
Mengya Xu, Tiebing Tang, Ziqi Guo, An Wang, Beilei Cui, Long Bai, Hongliang Ren
Handbook of Robotic Surgery, 2024.
Journal Papers
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V2-SfMLearner: Learning Monocular Depth and Ego-motion for Multimodal Wireless Capsule Endoscopy
Long Bai*, Beilei Cui*, Liangyu Wang*, Yanheng Li, Shilong Yao, Sishen Yuan, Yanan Wu, Yang Zhang, Max Q.-H. Meng, Zhen Li, Weiping Ding, Hongliang Ren
IEEE Transactions on Automation Science and Engineering (TASE), 2024. (IF: 5.9)
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Surgical-VQLA++: Adversarial Contrastive Learning for Calibrated Robust Visual Question-Localized Answering in Robotic Surgery
Long Bai*, Guankun Wang*, Mobarakol Islam*, Lalithkumar Seenivasan, An Wang, Hongliang Ren
Information Fusion, 2024. (IF: 14.8)
[Code & Data]
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Privacy-Preserving Synthetic Continual Semantic Segmentation for Robotic Surgery
Mengya Xu*, Mobarakol Islam*, Long Bai, Hongliang Ren
IEEE Transactions on Medical Imaging (TMI), 2024. (IF: 8.9)
[Code]
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Surgical-DINO: Adapter Learning of Foundation Models for Depth Estimation in Endoscopic Surgery
Beilei Cui*, Mobarakol Islam*, Long Bai, Hongliang Ren
International Journal of Computer Assisted Radiology and Surgery (IJCARS, Presented at IPCAI), 2024.
(IPCAI Best Paper Award Shortlist, Long Oral)
[Code]
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Data-driven 3D Tactile Cues with Intermediate Soft Interfaces towards Training Needle Insertions
Ruijie Tang*, Shilong Yao*, Long Bai, Hong Yan, Max Q.-H. Meng, Hongliang Ren
IEEE Sensors Journal, 2024.
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Rethinking Exemplars for Continual Semantic Segmentation in Endoscopy Scenes: Entropy-based Mini-Batch Pseudo-Replay
Guankun Wang*, Long Bai*, Yanan Wu, Tong Chen, Hongliang Ren
Computers in Biology and Medicine (CBM), 2023.
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Joint Sparse Representations and Coupled Dictionary Learning in Multi-Source Heterogeneous Image Pseudo-color Fusion
Long Bai, Shilong Yao, Kun Gao, Yanjun Huang, Ruijie Tang, Hong Yan, Max Q.-H. Meng, Hongliang Ren
IEEE Sensors Journal, 2023.
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Two-stage Contextual Transformer-based Convolutional Neural Network for Airway Extraction from CT Images
Yanan Wu, Shuiqing Zhao, Shouliang Qi, Jie Feng, Haowen Pang, Runsheng Chang, Long Bai, Mengqi Li, Shuyue Xia, Wei Qian, Hongliang Ren
Artificial Intelligence in Medicine (AIM), 2023.
[Code]
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Domain Adaptive Sim-to-Real Segmentation of Oropharyngeal Organs
Guankun Wang, Tian-Ao Ren, Jiewen Lai, Long Bai, Hongliang Ren
Medical & Biological Engineering & Computing (MBEC), 2023.
[Dataset]
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Transformer-based 3D U-Net for Pulmonary Vessel Segmentation and Artery-vein Separation from CT Images
Yanan Wu, Shouliang Qi, Meihuan Wang, Shuiqing Zhao, Haowen Pang, Jiaxuan Xu, Long Bai, Hongliang Ren
Medical & Biological Engineering & Computing (MBEC), 2023.
[Code]
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An RNN-LSTM Enhanced Compact and Affordable Micro Force Sensing System for Interventional Continuum Robots with Interchangeable End-Effector Instruments
Shilong Yao*, Ruijie Tang*, Long Bai, Hong Yan, Hongliang Ren, Li Liu
IEEE Transactions on Instrumentation and Measurement, 2023.
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Rethinking Pain Communication of Patients with Alzheimer's Disease through E-textile Interaction Design
Yanheng Li*, Long Bai*, Yaxuan Mao, Hongliang Ren, Yu Qiao, Xin Tong, Ray LC
Frontiers in Physiology, 2023.
Conference Papers
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Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping
Yiming Huang*, Beilei Cui*, Long Bai*, Zhen Chen, Jinlin Wu, Zhen Li, Hongbin Liu, Hongliang Ren
IEEE International Conference on Robotics and Automation (ICRA), 2025.
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ETSM: Automating Dissection Trajectory Suggestion and Confidence Map-Based Safety Margin Prediction for Robot-assisted Endoscopic Submucosal Dissection
Mengya Xu, Wenjin Mo, Guankun Wang, Huxin Gao, An Wang, Long Bai, Chaoyang Lyu, Xiaoxiao Yang, Zhen Li, Hongliang Ren
IEEE International Conference on Robotics and Automation (ICRA), 2025.
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SurgPLAN++: Universal Surgical Phase Localization Network for Online and Offline Inference
Zhen Chen, Xingjian Luo, Jinlin Wu, Long Bai, Zhen Lei, Hongliang Ren, Sebastien Ourselin, Hongbin Liu
IEEE International Conference on Robotics and Automation (ICRA), 2025.
[Code]
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PvNeXt: Rethinking Network Design and Temporal Motion for Point Cloud Video Recognition
Jie Wang, Tingfa Xu, Lihe Ding, Xinjie Zhang, Long Bai, Jianan Li
International Conference on Learning Representations (ICLR), 2025.
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EndoUIC: Promptable Diffusion Transformer for Unified Illumination Correction in Capsule Endoscopy
Long Bai*, Tong Chen*, Qiaozhi Tan*, Wan Jun Nah, Yanheng Li, Zhicheng He, Sishen Yuan, Jinlin Wu, Zhen Chen, Mobarakol Islam, Zhen Li, Hongbin Liu, Hongliang Ren
Medical Image Computing and Computer Assisted Intervention (MICCAI), 2024.
[Code & Data]
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Endo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splatting
Yiming Huang*, Beilei Cui*, Long Bai*, Ziqi Guo, Mengya Xu, Hongliang Ren
Medical Image Computing and Computer Assisted Intervention (MICCAI), 2024.
[Code]
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LighTDiff: Surgical Endoscopic Image Low-Light Enhancement with T-Diffusion
Tong Chen*, Qingcheng Lyu*, Long Bai*, Erjian Guo, Huxin Gao, Xiaoxiao Yang, Hongliang Ren, Luping Zhou
Medical Image Computing and Computer Assisted Intervention (MICCAI), 2024. (Early Accepted)
(MICCAI Best Paper Runner Up)
[Code]
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EndoDAC: Efficient Adapting Foundation Model for Self-Supervised Depth Estimation from Any Endoscopic Camera
Beilei Cui*, Mobarakol Islam*, Long Bai*, An Wang, Hongliang Ren
Medical Image Computing and Computer Assisted Intervention (MICCAI), 2024. (Early Accepted)
[Code]
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ASI-Seg: Audio-Driven Surgical Instrument Segmentation with Surgeon Intention Understanding
Zhen Chen, Zongmin Zhang, Wenwu Guo, Xingjian Luo, Long Bai, Jinlin Wu, Hongliang Ren, Hongbin Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. (Oral)
[Code]
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OSSAR: Towards Open-Set Surgical Activity Recognition in Robot-assisted Surgery
Long Bai*, Guankun Wang*, Jie Wang, Xiaoxiao Yang, Huxin Gao, Xin Liang, An Wang, Mobarakol Islam, Hongliang Ren
IEEE International Conference on Robotics and Automation (ICRA), 2024.
(IEEE RAS Travel Grant Award)
[Code]
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Registering Neural 4D Gaussians for Endoscopic Surgery
Yiming Huang, Beilei Cui, Ikemura Kei, Jiekai Zhang, Long Bai, Hongliang Ren
IEEE International Conference on Robotics and Biomimetics (ROBIO), 2024.
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Markerless Platform-independent Web-Based Augmented Reality with Auto-Scaling and Real-Time Head Tracking towards Neurointerventional Preoperative Planning and Training of Head-mounted Robotic Needle Insertion
Hon Lung Ho, Yupeng Wang, An Wang, Long Bai, Hongliang Ren
IEEE International Conference on Robotics and Biomimetics (ROBIO), 2024.
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EndoOOD: Uncertainty-aware Out-of-distribution Detection in Capsule Endoscopy Diagnosis
Qiaozhi Tan*, Long Bai*, Guankun Wang*, Mobarakol Islam, Hongliang Ren
IEEE International Symposium on Biomedical Imaging (ISBI), 2024.
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Learning to Adapt Foundation Model DINOv2 for Capsule Endoscopy Diagnosis
Bowen Zhang*, Ying Chen*, Long Bai, Yan Zhao, Yuxiang Sun, Yixuan Yuan, Jianhua Zhang, Hongliang Ren
International Conference on Biomimetic Intelligence and Robotics & Medical Robotics Forum (ICBIR), 2024.
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Affecting Audience Valence and Arousal in 360 Immersive Environments: How Powerful Neural Style Transfer Is?
Yanheng Li, Long Bai, Yaxuan Mao, Xuening Peng, Zehao Zhang, Antoni B. Chan, Jixing Li, Xin Tong, Ray LC
International Conference on Human-Computer Interaction (HCII), 2024.
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Sample-adaptive Augmentation for Point Cloud Recognition Against Real-world Corruptions
Jie Wang, Lihe Ding, Tingfa Xu, Shaocong Dong, Xinli Xu, Long Bai, Jianan Li
International Conference on Computer Vision (ICCV), 2023.
[Code]
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LLCaps: Learning to Illuminate Low-Light Capsule Endoscopy with Curved Wavelet Attention and Reverse Diffusion
Long Bai*, Tong Chen*, Yanan Wu, An Wang, Mobarakol Islam, Hongliang Ren
Medical Image Computing and Computer Assisted Intervention (MICCAI), 2023. (Oral, Top 3%)
[Code & Data]
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CAT-ViL: Co-Attention Gated Vision-Language Embedding for Visual Question Localized-Answering in Robotic Surgery
Long Bai*, Mobarakol Islam*, Hongliang Ren
Medical Image Computing and Computer Assisted Intervention (MICCAI), 2023.
[Code]
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Revisiting Distillation for Continual Learning on Visual Question Localized-Answering in Robotic Surgery
Long Bai*, Mobarakol Islam*, Hongliang Ren
Medical Image Computing and Computer Assisted Intervention (MICCAI), 2023.
[Code]
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Landmark Detection using Transformer Toward Robot-assisted Nasal Airway Intubation
Tianhang Liu, Hechen Li, Long Bai†, Yanan Wu, An Wang, Mobarakol Islam, Hongliang Ren
International Conference on Biomimetic Intelligence and Robotics & Medical Robotics Forum (ICBIR), 2023.
(Best Student Paper Award)
[Code]
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Semi-supervised Learning for Segmentation of Bleeding Regions in Video Capsule Endoscopy
Hechen Li, Yanan Wu, Long Bai†, An Wang, Tong Chen, Hongliang Ren
International Conference on Biomimetic Intelligence and Robotics & Medical Robotics Forum (ICBIR), 2023.
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Surgical-VQLA: Gated Vision-Language Embedding for Visual Question Localized-Answering in Robotic Surgery
Long Bai*, Mobarakol Islam*, Lalithkumar Seenivasan, Hongliang Ren
IEEE International Conference on Robotics and Automation (ICRA), 2023.
(IEEE RAS Travel Grant Award)
[Code & Data]
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Deep Reinforcement Learning-Based Control for Stomach Coverage Scanning of Wireless Capsule Endoscopy
Yameng Zhang*, Long Bai*, Li Liu, Hongliang Ren, Max Q–H Meng
IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022.
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The Influence of Age and Gender Information on the Diagnosis of Diabetic Retinopathy: Based on Neural Networks
Long Bai*, Sihang Chen*, Mingyang Gao*, Leila Abdelrahman, Manal Al Ghamdi, Mohamed Abdel-Mottaleb
Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2021.
Workshop Papers
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Surgical-LVLM: Learning to Adapt Large Vision-Language Model for Grounded Visual Question Answering in Robotic Surgery
Guankun Wang*, Long Bai*, Wan Jun Nah, Jie Wang, Zhaoxi Zhang, Zhen Chen, Jinlin Wu, Mobarakol Islam, Hongbin Liu, Hongliang Ren
ICLR FM-Wild Workshop, 2025.
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Transferring Knowledge from High-Quality to Low-Quality MRI for Adult Glioma Diagnosis
Yanguang Zhao, Long Bai†, Zhaoxi Zhang, Yanan Wu, Mobarakol Islam, Hongliang Ren
MICCAI BraTS-SSA Challenge, 2024.
(Runner Up of Top-performing Team)
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A Review of 3D Reconstruction Techniques for Deformable Tissues in Robotic Surgery
Mengya Xu, Ziqi Guo, An Wang, Long Bai, Hongliang Ren
MICCAI EARTH Workshop, 2024.
[Code]
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Adapting SAM for Surgical Instrument Tracking and Segmentation in Endoscopic Submucosal Dissection Videos
Jieming Yu, Long Bai†, Guankun Wang, An Wang, Xiaoxiao Yang, Huxin Gao, Hongliang Ren
IEEE ICRA C4SR+ Workshop, 2024.
(Best Poster Award)
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Domain Adaptive Sim-to-Real Segmentation of Oropharyngeal Organs Towards Robot-assisted Intubation
Guankun Wang, Tian-Ao Ren, Jiewen Lai, Long Bai†, Hongliang Ren
IEEE ICRA Workshop on New Evolutions in Surgical Robotics, 2023.
(Best Poster Award)
[Dataset]
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The Exploration and Evaluation of Using Neural Style Transfer in Generating Affective 360° Panoramic VR Environments
Yanheng Li, Long Bai, Yaxuan Mao, Xuening Peng, Zehao Zhang, Xin Tong, Ray LC
IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops, 2023.
Professional Services
Associate Editor:
IEEE International Conference on Robotics and Biomimetics (ROBIO) 2024
Organizing Chair:
The 1st MICCAI Workshop on Efficient Medical AI (EMA4MICCAI) 2025
Program Committee:
MICCAI 2024 Workshop on Embodied AI and Robotics for Healthcare (EARTH)
ACM International Conference on Multimodal Interaction (ICMI) 2023 LBR
Regular Reviewer:
ICLR, MICCAI, ICRA, IROS, IPCAI, ISBI, CHI, VR, CSCW, ETRA, IUI, ROBIO, ICBIR
T-PAMI, T-MI, T-NNLS, T-CSVT, T-ASE, T-IM, RA-L, OJ-IM, IEEE Sensors Journal, Information Fusion, Information Sciences, CMIG, CBM, MBEC, JSCE, JMRR
Invited Talks
Surgical Visual Question Localized-Answering.
Pre-ICRA Online, May. 2023.
Lifelong Learning: Background, Methodology, and Applications.
Hong Kong University of Science and Technology (HKUST), Oct. 2022.
Teaching
Teaching Assistant:
2024-2025 | Spring | ELEG5757 | Intelligent Wearable Electronics |
2024-2025 | Spring | ELEG3103 | Robotic Perception and Intelligence |
2023-2024 | Spring | ELEG5600 | Advanced Perception for Intelligent Robotics |
2023-2024 | Fall | ENGG2760 | Probability for Engineers |
2022-2023 | Spring | ELEG5757 | Intelligent Wearable Electronics |
2022-2023 | Fall | ENGG2760 | Probability for Engineers |
2021-2022 | Spring | ELEG3201 | Microelectronic Devices and Circuits |
2021-2022 | Fall | ENGG2760 | Probability for Engineers |
Mentees:
Jieming Yu | Intern 2022-2025 | -> Ph.D. Student, HKUST |
Zhicheng He | Intern 2024-2025 | |
Yanguang Zhao | Intern 2024-2025 | -> M.Sc. Student, NUS |
Zhaoxi Zhang | Intern 2024-2025 | -> M.Phil. Student, PKU |
Boyi Ma | Intern 2023-2024 | -> Ph.D. Student, UToronto |
Ruohan Wang | Intern 2023-2024 | -> Ph.D. Student, Brown |
Qiaozhi Tan | Intern 2023-2024 | -> Ph.D. Student, CityU HK |
Yihan Ma | Intern 2023-2024 | -> M.Sc. Student, UCL |
Tianhang Liu | CUHK M.Sc. 2022-2023 | -> R&D, ASTRI HK |
Guankun Wang | Intern 2022-2023 | -> Ph.D. Student, CUHK |
Yuanhao Zhao | CUHK M.Sc. 2021-2022 | -> R&D, Samsung China |
Liangyu Wang | CUHK M.Sc. 2021-2022 | -> Ph.D. Student, KAUST |
Tong Chen | Intern 2021-2022 | -> M.Phil.-Ph.D. Student, USYD |
Some Links
Lab of Robotics, Embodied AI, and Navigation in Vivo, CUHK.
Chair for Computer Aided Medical Procedures & Augmented Reality (CAMP), TUM.
CAMP Personal Page, TUM.
© Long Bai | Last updated: Feb 2025