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Chih-Han
Yu
Ph.D.
Candidate, Computer Science
Harvard
University
33 Oxford
Street (Lab: Rm 236 Office: Rm 238), Cambridge, MA 02138
chyu@fas.harvard.edu
Research
Interests:
Multi-Agent System, Cooperative Control, Graph Dynamics, Self-Organizing Principles, Robotics, Machine Learning
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Brief
Bio
I am a
fourth year Ph.D. candidate in Computer Science at Harvard University.
My
advisor is Prof. Radhika
Nagpal, and I am affiliated with SSR group and Harvard's Wyss Institute for Bio-Inspired Engineering. Before coming
here, 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 (with Profs. Yi-Ping Hung and Chu-Song
Chen). 2006 summer, I
was a research intern in Intel Research, working with Dr. Georgios
Theocharous and Prof. Shie Mannor.
Research
Publications
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
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
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 et al
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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