Shih-Min Yang

I am a Ph.D. student at Örebro University in Sweden, under the supervision of Martin Magnusson, Todor Stoyanov, and Johannes A. Stork. I am working on the DARKO EU project and affiliated with Wallenberg AI, Autonomous Systems and Software Program (WASP). My research aims to enhance learning efficiency for reinforcement learning, using complex robotic manipulation tasks as a practical application.

In 2019, I received my master's degree at the Multimedia Lab in NTNU, Taiwan, focusing on computer vision and domain adaptation under the supervision of Mei-Chen Yeh, and subsequently worked as a Research Associate. Before embarking on my doctoral journey, I worked in the industry as a machine learning engineer.

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News

  • JAN, 2024: A paper has been selected for presentation at ICRA 2024
  • JAN, 2024: Project Demo at ABB & WARA Robotics
  • OCT, 2023: Poster presentation at the IROS 2023 Workshop CRM
  • SEP, 2023: WASP Study Trip in Canada
  • JUN, 2023: DARKO Demo at ARENA2036, Stuttgart, and Automatica 2023, Munich

Research

Learning Extrinsic Dexterity with Parameterized Manipulation Primitives
Shih-Min Yang, Martin Magnusson, Johannes A. Stork, Todor Stoyanov
ICRA 2024
IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation

We suggest using hierarchical reinforcement learning with parameterized primitives to solve occluded grasping tasks without the need for complex manual controller design.

Keywords: Contact-rich manipulation, Hierarchical Reinfocement Learning

Paper Code Website

Project

Dynamic Agile Production Robots that Learn and Optimise Knowledge and Operations
DARKO EU Project
Örebro University, TUM, Bosch, University of Pisa, EPFL, University of Lincoln, ACT Operations Research

DARKO is innovating agile production robots for efficient and safe intralogistics in warehouses. In this project, I mainly contribute to WP2: 3D Perception and Scene Understanding.

Website

Object Picking and Constrained Placement by Visual Reasoning
Shih-Min Yang, Yufei Zhu, Rishi Hazra, Kamran Hosseini, Karol Wojtulewicz

We designed a robotic system for precise object manipulation, integrating a perception module, visual reasoning module, and an in-hand perception and control module. Yufei, Rishi, and I applied for this project through WASP. In this project, my primary contribution focused on the in-hand perception and control module.

Website


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