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publications

Simulations for Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves for A Unicycle

Chien-Sheng Wu, Zih-Yun Chiu, Jing-Sin Liu
IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017
paper

Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration

Chien-Sheng Wu, Zih-Yun Chiu, Jing-Sin Liu
Modelling and Simulation in Engineering, 2018
paper

Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning

Zih-Yun Chiu, Florian Richter, Emily K. Funk, Ryan K. Orosco, Michael C. Yip
IEEE Conference on Robotics and Automation (ICRA), 2021
paper, video

Parallelized Reverse Curriculum Generation

Zih-Yun Chiu, Yi-Lin Tuan, Hung-yi Lee, Li-Chen Fu
arXiv Preprint, 2021
paper

Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery

Zih-Yun Chiu, Albert Z Liao, Florian Richter, Bjorn Johnson, Michael C. Yip
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
paper, video, code

Dynamic Latent Separation for Deep Learning

Yi-Lin Tuan, Zih-Yun Chiu, William Yang Wang
arXiv Preprint, 2024
paper

Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Classification, Reconstruction, and Tracking

Shan Lin, Albert J. Miao, Jingpei Lu, Shunkai Yu, Zih-Yun Chiu, Florian Richter, Michael C. Yip
IEEE Conference on Robotics and Automation (ICRA), 2023
paper

Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery (Best Paper Award in Healthcare and Medical Robotics)

Zih-Yun Chiu, Florian Richter, Michael C. Yip
IEEE Conference on Robotics and Automation (ICRA), 2023
paper, video

Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario

Elizabeth Peiros*, Zih-Yun Chiu*, Yuheng Zhi, Nikhil Shinde, Michael C. Yip
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
paper

Flexible Attention-Based Multi-Policy Fusion for Efficient Deep Reinforcement Learning

Zih-Yun Chiu*, Yi-Lin Tuan*, William Yang Wang, Michael C. Yip
Conference on Neural Information Processing Systems (NeurIPS), 2023
paper, video, code

Robust Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives

Christopher D'Ambrosia, Florian Richter, Zih-Yun Chiu, Nikhil Shinde, Fei Liu, Henrik Christensen, Michael C. Yip
IEEE Conference on Robotics and Automation (ICRA), 2024
paper

The Current State of Autonomous Suturing: A Systematic Review

Benjamin T. Ostrander, Daniel Massillon, Leo Meller, Zih-Yun Chiu, Michael C. Yip, Ryan K. Orosco
Surgical Endoscopy, 2024
paper

SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation

Nikhil U. Shinde*, Zih-Yun Chiu*, Florian Richter, Jason Lim, Yuheng Zhi, Sylvia Herbert, Michael C. Yip
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
paper

SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning

Yun-Jie Ho, Zih-Yun Chiu, Yuheng Zhi, Michael C Yip
arXiv Preprint, 2024
paper

Optimal Motion Scaling for Delayed Telesurgery

Jason Lim, Florian Richter, Zih-Yun Chiu, Jaeyeon Lee, Ethan Quist, Nathan Fisher, Jonathan Chambers, Steven Hong, Michael C. Yip
Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Differentiable Rendering-Based Pose Estimation for Surgical Robotic Instruments

Zekai Liang, Zih-Yun Chiu, Florian Richter, Michael C. Yip
Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
paper

Zih-Yun (Sarah) Chiu