Publications

* indicates equal contribution. You can also find my articles on my Google Scholar profile.

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

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

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

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

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

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

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

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

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

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

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

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

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

Preprint and Under Submission

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

Dynamic Latent Separation for Deep Learning

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

Parallelized Reverse Curriculum Generation

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

Zih-Yun (Sarah) Chiu