Flexible Attention-Based Multi-Policy Fusion for Efficient Deep Reinforcement Learning
Zih-Yun Chiu*, Yi-Lin Tuan*, William Yang Wang, Michael C. Yip
2023 Conference on Neural Information Processing Systems (NeurIPS)., 2023
paper
Publications
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 (Outstanding Healthcare and Medical Robotics Paper)
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
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
Under Submission, 2023
Representing Data as Atoms: Unifying Intra- and Inter-Sample Relationship to Discretize Data Representation
Yi-Lin Tuan, Zih-Yun Chiu, William Yang Wang
Under Submission, 2023
Parallelized Reverse Curriculum Generation
Zih-Yun Chiu, Yi-Lin Tuan, Hung-yi Lee, Li-Chen Fu
arXiv Preprint, 2021
paper