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Chih-Han
Yu, Ph.D.
Computer Science, Harvard
University
Wyss Institute for Biologically Inspired Engineering
33 Oxford
Street (Lab: Rm 236 Office: Rm 238), Cambridge, MA 02138
chyu@fas.harvard.edu
Research
Interests:
Multi-Agent System, Robotics, Bio-Inspired Algorithms, Cooperative
Control, Graph Dynamics, Self-Organizing Principles, Machine
Learning
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Brief
Bio
I received my Ph.D. degree in Computer
Science from Harvard University in May 2010.
I am currently working on a startup company with colleagues from
Harvard School of Engineering and Applied Sciences and MIT Media Lab.
While I was at Harvard, I worked with
Prof. Radhika
Nagpal, and I was affiliated with SSR group and Harvard's Wyss Institute for Biologically
Inspired
Engineering. I was also fortunate to have Profs.
David Parkes, Robert J. Wood, and Manuela Veloso on my thesis
committee.
Before coming to Harvard, I was a master’s student working at
Stanford Artificial
Intelligence Lab (with Prof. Andrew Ng).
Even before that, I did my undergraduate in Computer Science at
National Taiwan University. In 2006 summer, I
was a research intern in Intel Research.
My CV
Research
Publications
2010
Biologically-Inspired Control for Self-Adaptive
Multiagent Systems
Chih-Han Yu
Doctoral
Thesis, Harvard University, Apr 2010. (pdf)
Biologically-Inspired Control for Multi-Agent
Self-Adaptive Tasks
Chih-Han Yu, Radhika Nagpal
Twenty-Fourth
AAAI Conference on Artificial Intelligence (AAAI),
2010 (pdf)
New
scientific and technical advances in research (Nectar)
Track
Keywords:
Bio-Inspired Multi-Agent System, Distributed Problem Solving,
Hierarchical vs. Decentralized approach
A Self-Organizing Framework for Modular Robot Adaptive
Tasks: Theory and Application
Chih-Han Yu, Radhika Nagpal
in submission to International Journal of Robotics Research (IJRR), 2010.
Collective Decision-Making in Multi-Agent Systems by
Implicit Leadership
Chih-Han Yu, Justin
Werfel, Radhika Nagpal
International Conference on
Autonomous Agents and Multi-Agent Systems (AAMAS),
2010. (pdf)
Keywords:
Bio-Inspired Multi-Agent System, Distributed Problem Solving,
Decentralized Decision Making, Flocking
Coordinating Collective Locomotion in an Amorphous
Modular Robot
Chih-Han
Yu, Justin
Werfel, Radhika Nagpal
International Conference on Robotics and Automation (ICRA),
2010 (pdf)
Keywords:
Distributed Control, Modular Robot, Autonomous Locomotion,
Emergent Behaviors
Mechanical Deign and Mechanical Design and
Locomotion of Modular-Expanding Robots
Rebecca Belisle, Chih-Han Yu, Radhika Nagpal.
Modular Robot Workshop, International Conference on Robotics and
Automation (ICRA),
2010 (pdf)
Applicability of Shape Memory
Alloy Wire for an Active, Soft Orthotic (Extended Abstract)
Leia Stirling, Chih-Han Yu, Jason Miller, Rob Wood,
Eugene Goldfield, Radhika Nagpal
Shape Memory and Superelastic Technologies conference (SMST), 2010. (pdf)
Keywords: Assitive walking device,
Orthotics, Shape memory alloy
2009
Engineering Self-Adaptive
Modular Robotics: A Bio-Inspired Approach (Video Paper)
Chih-Han Yu, Radhika Nagpal
International Conference on Intelligent Robots and Systems (IROS),
2009 (pdf)
(Video link)
Keywords: Adaptive/Distributed
Control, Modular Robot
Self-Adapting Modular Robotics: A Generalized
Distributed Consensus Framework
Chih-Han Yu, Radhika Nagpal
International
Conference
on Robotics and Automation (ICRA),
2009. (pdf)
Online
appendix for proofs (pdf)
Keywords: Adaptive/Distributed
Control, Modular Robot, Robotic Grasping, Locomotion
2008
Sensing-based Shape Formation Tasks on Modular
Multi-Robot Systems: A Theoretical Study
Chih-Han Yu, Radhika Nagpal
International
Conference on
Autonomous Agents and Multi-Agent Systems (AAMAS),
2008. (pdf)
Nominated for Best
Student Paper Award.
Keywords: Multi-Agent Theory,
Distributed Constraint, Graph Dynamics, Centralized vs Decentralized
Engineering Self-Organizing Multi-Agent
System (Demo Paper)
Radhika Nagpal,
Chih-Han
Yu, Daniel Yamins
International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS),
2008 (pdf)
Best
Robotics Demo Runnerup.
Morpho: A Self-deformable Modular Robot Inspired by
Cellular Structure
Chih-Han Yu,
Kristina Haller, Donald Ingber, Radhika Nagpal
IEEE/RSJ International
Conference
on Intelligent Robots and Systems (IROS),
2008 (pdf)
Keywords: Hardware Design, Modular
Robot, Biological Theory
Distributed Consensus and
Self-Adapting Modular
Robot
Chih-Han Yu, Radhika Nagpal
Self-reconfigurable Robot Workshop
IEEE/RSJ International
Conference
on Intelligent Robots and Systems (IROS),
2008
Keywords: Multi-Agent Theory,
Distributed Constraint, Graph Dynamics, Centralized vs Decentralized
Self-Adaptive Furniture
Chih-Han Yu, FX Williems,
Krinstina Haller, Donald Ingber, Radhika Nagpal
Workshop on Imagine Future Domestic, Aahus,
Denmark Jan, 2008 (pdf)
Keywords: Robotic Furniture,
Human-Robot Interaction
2007 and before
Self-organizing Environmentally-adaptive Shapes
on a Modular Robot
Chih-Han Yu, FX Williems,
Donald Ingber, Radhika
Nagpal
IEEE/RSJ International
Conference
on Intelligent Robots and Systems (IROS),
Oct, 2007 (pdf)
Keywords: Adaptive/Distributed Control,
Modular Robot
Utility and User Model Based Power Management
(Poster Abstract)
Chih-Han
Yu, Shie Mannor,
Georgios Theocharous,
Avi Pfeffer
National
Conference on Artificial Intelligence (AAAI)
2007, (pdf)
Keywords: Machine Learning,
Graphical Model, Power Management System
Machine Learning for Adaptive Power Management
Georgios Theocharous,
Intel Technology Journal,
10(4), Nov, 2006, (pdf)
Keywords: Machine Learning, Power
Management System
Quadruped Robot Obstacle Negotiation
via Reinforcement Learning
Honglak
Lee, Yirong Shen,
Chih-Han Yu, Gurjeet Singh, and
Andrew Y. Ng
IEEE
International Conference
on Robotics and Automation (ICRA),
2006, (pdf)
Keywords: Reinforcement Learning,
Robot Locomotion
Open Loop Plans in POMDPs
Chih-Han
Yu, Jason
Chuang, Brian Gerkey,
Geoff
Gordon and
Andrew Y. Ng
Technical
Report, Stanford University CS Dept.,
2005, (pdf)
Keywords: POMPDs, Multi-Robot
Exploration
A Purely
image-Based Approach to Augmenting
Panorama with Object Movies
Yi-Ping Hung
et al
DMS
International Symposium on Computer
Graphics and Virtual Reality,
2003, (pdf)
Keywords: Virtual Reality, Augmented
Reality
Interactive Object Manipulation Strategies for
Browsing Object-Centered Image Set
Chih-Han
Yu, Yu-Pao Tsai, Chu-Song Chen, Yi-Ping
Hung
Computer
Graphics Workshop, Taiwan, 2002, (pdf)
Keywords: Virtual Reality, Augmented
Reality
Patents
Active, Soft Orthotics
Leia Stirling, Chih-Han
Yu, Eugene Goldfield, Rob Wood, Radhika Nagpal
US Provisional Patent, 2009
Environmentally-Adaptive
Shapes with a Multi-agent System
Chih-Han
Yu and Radhika Nagpal
US Patent Pending, 2007 (Reference
Link)
Some projects I had previously involed in:
Quadruped
Robot Project (Stanford, link)
DARPA
Grand Challenge (Stanford, link)
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