Harvard
Chih-Han Yu, Ph.D.
Computer Science
, Harvard University
Wyss Institute 
Self-Organizing Systems
Research Group
SSR Group



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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


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 YuRadhika 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)