Long Bai 白龙 Ph.D. Candidate The Chinese University of Hong Kong Email: b.long@link.cuhk.edu.hk

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 (3/2771)

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

Publications [Full list at Google Scholar]

* indicates equal contribution; † indicates project lead.

Preprints

• Can DeepSeek-V3 Reason Like a Surgeon? An Empirical Evaluation for Vision-Language Understanding in Robotic-Assisted Surgery
  Boyi Ma, Yanguang Zhao, Jie Wang, Guankun Wang, Kun Yuan, Tong Chen, Long Bai†, Hongliang Ren
  Preprint, 2025.
  
• 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.
  
• 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]

• 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]

• 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

• Ultrasound Guidance and Robotic Procedures: Actual and Future Intelligence
  Long Bai*, Lei Zhao*, Hongliang Ren
  Handbook of Robotic Surgery, 2024.
  
• 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

• 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)
  
• 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]

• 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]

• 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]

• 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.
  
• 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.
  
• 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.
  
• 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]

• 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]

• 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]

• 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.
  
• 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

• 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.
  
• 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.
  
• 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]

• 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.
  
• 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]

• 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]

• 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, Top 3 out of 2771 Submissions)
  

[Code]

• 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]

• 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]

• 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]

• 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.
  
• 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.
  
• 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.
  
• 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.
  
• 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.
  
• 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]

• 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]

• 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]

• 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]

• 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]

• 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.
  
• 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]

• 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.
  
• 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

• 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.
  
• 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)
  
• 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]

• 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)
  
• 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]

• 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:

Zhicheng He	Intern 2024-2025
Junyi Wang	Intern 2024-2025
Xinyu Ma	Intern 2024-2025
Yanguang Zhao	Intern 2024-2025	-> M.Sc. Student, NUS
Zhaoxi Zhang	Intern 2024-2025	-> M.Phil. Student, PKU
Jieming Yu	Intern 2023-2025	-> Ph.D. Student, HKUST
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