Jianyu Chen - RankMe

101 papers A* 18A 7B 3C 3Misc 2Journal 58Unranked 10

Year	Rank	Type	Title / Venue / Authors
2025	A*	`conf`	Improving Vision-Language-Action Model with Online Reinforcement Learning. ICRA Yanjiang Guo, Jianke Zhang, Xiaoyu Chen, Xiang Ji, Yen-Jen Wang, Yucheng Hu, Jianyu Chen
2025	J	`jnl`	Improving Vision-Language-Action Model with Online Reinforcement Learning. CoRR Yanjiang Guo, Jianke Zhang, Xiaoyu Chen, Xiang Ji, Yen-Jen Wang, Yucheng Hu, Jianyu Chen
2025	J	`jnl`	Learn Zero-Constraint-Violation Safe Policy in Model-Free Constrained Reinforcement Learning. IEEE Trans. Neural Networks Learn. Syst. Haitong Ma, Changliu Liu, Shengbo Eben Li, Sifa Zheng, Wenchao Sun, Jianyu Chen
2025	J	`jnl`	MARGE: Improving Math Reasoning for LLMs with Guided Exploration. CoRR Jingyue Gao, Runji Lin, Keming Lu, Bowen Yu, Junyang Lin, Jianyu Chen
2025	A*	`conf`	MARGE: Improving Math Reasoning with Guided Exploration. ICML Jingyue Gao, Runji Lin, Keming Lu, Bowen Yu, Junyang Lin, Jianyu Chen
2025	A*	`conf`	UP-VLA: A Unified Understanding and Prediction Model for Embodied Agent. ICML Jianke Zhang, Yanjiang Guo, Yucheng Hu, Xiaoyu Chen, Xiang Zhu, Jianyu Chen
2025	J	`jnl`	UP-VLA: A Unified Understanding and Prediction Model for Embodied Agent. CoRR Jianke Zhang, Yanjiang Guo, Yucheng Hu, Xiaoyu Chen, Xiang Zhu, Jianyu Chen
2025	J	`jnl`	UniCoD: Enhancing Robot Policy via Unified Continuous and Discrete Representation Learning. CoRR Jianke Zhang, Yucheng Hu, Yanjiang Guo, Xiaoyu Chen, Yichen Liu, Wenna Chen, Chaochao Lu, Jianyu Chen
2025	A*	`conf`	Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations. ICML Yucheng Hu, Yanjiang Guo, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath, Chaochao Lu, Jianyu Chen
2025	J	`jnl`	Zeroth-Order Actor-Critic: An Evolutionary Framework for Sequential Decision Problems. IEEE Trans. Evol. Comput. Yuheng Lei, Yao Lyu, Guojian Zhan, Tao Zhang, Jiangtao Li, Jianyu Chen, Shengbo Eben Li, Sifa Zheng
2025	J	`jnl`	villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Models. CoRR Xiaoyu Chen, Hangxing Wei, Pushi Zhang, Chuheng Zhang, Kaixin Wang, Yanjiang Guo, Rushuai Yang, Yucen Wang, Xinquan Xiao, Li Zhao, Jianyu Chen, Jiang Bian
2024	—	`conf`	Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning. Robotics: Science and Systems Xinyang Gu, Yen-Jen Wang, Xiang Zhu, Chengming Shi, Yanjiang Guo, Yichen Liu, Jianyu Chen
2024	J	`jnl`	Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning. CoRR Xinyang Gu, Yen-Jen Wang, Xiang Zhu, Chengming Shi, Yanjiang Guo, Yichen Liu, Jianyu Chen
2024	A	`conf`	DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment. IROS Yanjiang Guo, Yen-Jen Wang, Lihan Zha, Jianyu Chen
2024	Misc	`conf`	HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers. CoRL Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, Jianyu Chen
2024	J	`jnl`	HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers. CoRR Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, Jianyu Chen
2024	J	`jnl`	Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer. CoRR Xinyang Gu, Yen-Jen Wang, Jianyu Chen
2024	J	`jnl`	Model-Based Chance-Constrained Reinforcement Learning via Separated Proportional-Integral Lagrangian. IEEE Trans. Neural Networks Learn. Syst. Baiyu Peng, Jingliang Duan, Jianyu Chen, Shengbo Eben Li, Genjin Xie, Congsheng Zhang, Yang Guan, Yao Mu, Enxin Sun
2024	A*	`conf`	Prediction with Action: Visual Policy Learning via Joint Denoising Process. NeurIPS Yanjiang Guo, Yucheng Hu, Jianke Zhang, Yen-Jen Wang, Xiaoyu Chen, Chaochao Lu, Jianyu Chen
2024	J	`jnl`	Prediction with Action: Visual Policy Learning via Joint Denoising Process. CoRR Yanjiang Guo, Yucheng Hu, Jianke Zhang, Yen-Jen Wang, Xiaoyu Chen, Chaochao Lu, Jianyu Chen
2024	—	`conf`	Prompt a Robot to Walk with Large Language Models. CDC Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath
2024	J	`jnl`	Safe Model-Based Reinforcement Learning With an Uncertainty-Aware Reachability Certificate. IEEE Trans Autom. Sci. Eng. Dongjie Yu, Wenjun Zou, Yujie Yang, Haitong Ma, Shengbo Eben Li, Yuming Yin, Jianyu Chen, Jingliang Duan
2024	J	`jnl`	Synthesizing Control Barrier Functions With Feasible Region Iteration for Safe Reinforcement Learning. IEEE Trans. Autom. Control. Yujie Yang, Yuhang Zhang, Wenjun Zou, Jianyu Chen, Yuming Yin, Shengbo Eben Li
2024	J	`jnl`	Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations. CoRR Yucheng Hu, Yanjiang Guo, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath, Chaochao Lu, Jianyu Chen
2023	J	`jnl`	Asking Before Action: Gather Information in Embodied Decision Making with Language Models. CoRR Xiaoyu Chen, Shenao Zhang, Pushi Zhang, Li Zhao, Jianyu Chen
2023	C	`conf`	Belief State Actor-Critic Algorithm from Separation Principle for POMDP. ACC Yujie Yang, Yuxuan Jiang, Jianyu Chen, Shengbo Eben Li, Ziqing Gu, Yuming Yin, Qian Zhang, Kai Yu
2023	J	`jnl`	Chance-Constrained Iterative Linear-Quadratic Stochastic Games. IEEE Robotics Autom. Lett. Hai Zhong, Yutaka Shimizu, Jianyu Chen
2023	J	`jnl`	Decentralized Motor Skill Learning for Complex Robotic Systems. CoRR Yanjiang Guo, Zheyuan Jiang, Yen-Jen Wang, Jingyue Gao, Jianyu Chen
2023	J	`jnl`	Decentralized Motor Skill Learning for Complex Robotic Systems. IEEE Robotics Autom. Lett. Yanjiang Guo, Zheyuan Jiang, Yen-Jen Wang, Jingyue Gao, Jianyu Chen
2023	J	`jnl`	DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment. CoRR Yanjiang Guo, Yen-Jen Wang, Lihan Zha, Zheyuan Jiang, Jianyu Chen
2023	J	`jnl`	Model-Free Safe Reinforcement Learning Through Neural Barrier Certificate. IEEE Robotics Autom. Lett. Yujie Yang, Yuxuan Jiang, Yichen Liu, Jianyu Chen, Shengbo Eben Li
2023	J	`jnl`	Policy-Iteration-Based Finite-Horizon Approximate Dynamic Programming for Continuous-Time Nonlinear Optimal Control. IEEE Trans. Neural Networks Learn. Syst. Ziyu Lin, Jingliang Duan, Shengbo Eben Li, Haitong Ma, Jie Li, Jianyu Chen, Bo Cheng, Jun Ma
2023	J	`jnl`	Prompt a Robot to Walk with Large Language Models. CoRR Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath
2023	J	`jnl`	Stylized Table Tennis Robots Skill Learning with Incomplete Human Demonstrations. CoRR Xiang Zhu, Zixuan Chen, Jianyu Chen
2023	A*	`conf`	Towards Generalizable Reinforcement Learning for Trade Execution. IJCAI Chuheng Zhang, Yitong Duan, Xiaoyu Chen, Jianyu Chen, Jian Li, Li Zhao
2023	J	`jnl`	Towards Generalizable Reinforcement Learning for Trade Execution. CoRR Chuheng Zhang, Yitong Duan, Xiaoyu Chen, Jianyu Chen, Jian Li, Li Zhao
2023	A*	`conf`	Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning. ICRA Zheng Wu, Yichen Xie, Wenzhao Lian, Changhao Wang, Yanjiang Guo, Jianyu Chen, Stefan Schaal, Masayoshi Tomizuka
2022	A	`conf`	A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation. IROS Xiang Zhu, Shucheng Kang, Jianyu Chen
2022	J	`jnl`	A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation. CoRR Xiang Zhu, Shucheng Kang, Jianyu Chen
2022	A*	`conf`	An Adaptive Deep RL Method for Non-Stationary Environments with Piecewise Stable Context. NeurIPS Xiaoyu Chen, Xiangming Zhu, Yufeng Zheng, Pushi Zhang, Li Zhao, Wenxue Cheng, Peng Cheng, Yongqiang Xiong, Tao Qin, Jianyu Chen, Tie-Yan Liu
2022	J	`jnl`	An Adaptive Deep RL Method for Non-Stationary Environments with Piecewise Stable Context. CoRR Xiaoyu Chen, Xiangming Zhu, Yufeng Zheng, Pushi Zhang, Li Zhao, Wenxue Cheng, Peng Cheng, Yongqiang Xiong, Tao Qin, Jianyu Chen, Tie-Yan Liu
2022	J	`jnl`	Chance-Constrained Iterative Linear-Quadratic Stochastic Games. CoRR Hai Zhong, Yutaka Shimizu, Jianyu Chen
2022	A*	`conf`	CtrlFormer: Learning Transferable State Representation for Visual Control via Transformer. ICML Yao Mark Mu, Shoufa Chen, Mingyu Ding, Jianyu Chen, Runjian Chen, Ping Luo
2022	J	`jnl`	CtrlFormer: Learning Transferable State Representation for Visual Control via Transformer. CoRR Yao Mu, Shoufa Chen, Mingyu Ding, Jianyu Chen, Runjian Chen, Ping Luo
2022	A*	`conf`	DOMINO: Decomposed Mutual Information Optimization for Generalized Context in Meta-Reinforcement Learning. NeurIPS Yao Mu, Yuzheng Zhuang, Fei Ni, Bin Wang, Jianyu Chen, Jianye Hao, Ping Luo
2022	J	`jnl`	Decomposed Mutual Information Optimization for Generalized Context in Meta-Reinforcement Learning. CoRR Yao Mu, Yuzheng Zhuang, Fei Ni, Bin Wang, Jianyu Chen, Jianye Hao, Ping Luo
2022	J	`jnl`	Enhance Sample Efficiency and Robustness of End-to-end Urban Autonomous Driving via Semantic Masked World Model. CoRR Zeyu Gao, Yao Mu, Ruoyan Shen, Chen Chen, Yangang Ren, Jianyu Chen, Shengbo Eben Li, Ping Luo, Yanfeng Lu
2022	A*	`conf`	Flow-based Recurrent Belief State Learning for POMDPs. ICML Xiaoyu Chen, Yao Mark Mu, Ping Luo, Shengbo Li, Jianyu Chen
2022	J	`jnl`	Flow-based Recurrent Belief State Learning for POMDPs. CoRR Xiaoyu Chen, Yao Mu, Ping Luo, Shengbo Li, Jianyu Chen
2022	J	`jnl`	Interpretable End-to-End Urban Autonomous Driving With Latent Deep Reinforcement Learning. IEEE Trans. Intell. Transp. Syst. Jianyu Chen, Shengbo Eben Li, Masayoshi Tomizuka
2022	—	`conf`	Joint Synthesis of Safety Certificate and Safe Control Policy Using Constrained Reinforcement Learning. L4DC Haitong Ma, Changliu Liu, Shengbo Eben Li, Sifa Zheng, Jianyu Chen
2022	A*	`conf`	Learn to Grasp with Less Supervision: A Data-Efficient Maximum Likelihood Grasp Sampling Loss. ICRA Xinghao Zhu, Yefan Zhou, Yongxiang Fan, Lingfeng Sun, Jianyu Chen, Masayoshi Tomizuka
2022	—	`conf`	Learning POMDP Models with Similarity Space Regularization: a Linear Gaussian Case Study. L4DC Yujie Yang, Jianyu Chen, Shengbo Li
2022	—	`conf`	Performance-Driven Controller Tuning via Derivative-Free Reinforcement Learning. CDC Yuheng Lei, Jianyu Chen, Shengbo Eben Li, Sifa Zheng
2022	J	`jnl`	Performance-Driven Controller Tuning via Derivative-Free Reinforcement Learning. CoRR Yuheng Lei, Jianyu Chen, Shengbo Eben Li, Sifa Zheng
2022	A*	`conf`	Reachability Constrained Reinforcement Learning. ICML Dongjie Yu, Haitong Ma, Sheng-bo Li, Jianyu Chen
2022	J	`jnl`	Reachability Constrained Reinforcement Learning. CoRR Dongjie Yu, Haitong Ma, Shengbo Eben Li, Jianyu Chen
2022	Misc	`conf`	Reinforcement learning with Demonstrations from Mismatched Task under Sparse Reward. CoRL Yanjiang Guo, Jingyue Gao, Zheng Wu, Chengming Shi, Jianyu Chen
2022	J	`jnl`	Reinforcement learning with Demonstrations from Mismatched Task under Sparse Reward. CoRR Yanjiang Guo, Jingyue Gao, Zheng Wu, Chengming Shi, Jianyu Chen
2022	J	`jnl`	Safe Model-Based Reinforcement Learning with an Uncertainty-Aware Reachability Certificate. CoRR Dongjie Yu, Wenjun Zou, Yujie Yang, Haitong Ma, Shengbo Eben Li, Jingliang Duan, Jianyu Chen
2022	A*	`conf`	Scale-Equivalent Distillation for Semi-Supervised Object Detection. CVPR Qiushan Guo, Yao Mu, Jianyu Chen, Tianqi Wang, Yizhou Yu, Ping Luo
2022	J	`jnl`	Scale-Equivalent Distillation for Semi-Supervised Object Detection. CoRR Qiushan Guo, Yao Mu, Jianyu Chen, Tianqi Wang, Yizhou Yu, Ping Luo
2022	A*	`conf`	Unsupervised Skill Discovery via Recurrent Skill Training. NeurIPS Zheyuan Jiang, Jingyue Gao, Jianyu Chen
2022	J	`jnl`	Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning. CoRR Zheng Wu, Yichen Xie, Wenzhao Lian, Changhao Wang, Yanjiang Guo, Jianyu Chen, Stefan Schaal, Masayoshi Tomizuka
2022	J	`jnl`	Zeroth-Order Actor-Critic. CoRR Yuheng Lei, Jianyu Chen, Shengbo Eben Li, Sifa Zheng
2021	A*	`conf`	A Safe Hierarchical Planning Framework for Complex Driving Scenarios based on Reinforcement Learning. ICRA Jinning Li, Liting Sun, Jianyu Chen, Masayoshi Tomizuka, Wei Zhan
2021	—	`conf`	Belief state separated reinforcement learning for autonomous vehicle decision making under uncertainty. ITSC Ziqing Gu, Yujie Yang, Jingliang Duan, Shengbo Eben Li, Jianyu Chen, Wenhan Cao, Sifa Zheng
2021	A	`conf`	Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian Belief Space Planning. IROS Jianyu Chen, Yutaka Shimizu, Liting Sun, Masayoshi Tomizuka, Wei Zhan
2021	J	`jnl`	Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian Belief Space Planning. CoRR Jianyu Chen, Yutaka Shimizu, Liting Sun, Masayoshi Tomizuka, Wei Zhan
2021	J	`jnl`	Feasible Actor-Critic: Constrained Reinforcement Learning for Ensuring Statewise Safety. CoRR Haitong Ma, Yang Guan, Shengbo Eben Li, Xiangteng Zhang, Sifa Zheng, Jianyu Chen
2021	J	`jnl`	Joint Synthesis of Safety Certificate and Safe Control Policy using Constrained Reinforcement Learning. CoRR Haitong Ma, Changliu Liu, Shengbo Eben Li, Sifa Zheng, Jianyu Chen
2021	J	`jnl`	Learn Zero-Constraint-Violation Policy in Model-Free Constrained Reinforcement Learning. CoRR Haitong Ma, Changliu Liu, Shengbo Eben Li, Sifa Zheng, Wenchao Sun, Jianyu Chen
2021	J	`jnl`	Mixed Policy Gradient. CoRR Yang Guan, Jingliang Duan, Shengbo Eben Li, Jie Li, Jianyu Chen, Bo Cheng
2021	—	`conf`	Model-Based Actor-Critic with Chance Constraint for Stochastic System. CDC Baiyu Peng, Yao Mu, Yang Guan, Shengbo Eben Li, Yuming Yin, Jianyu Chen
2021	A*	`conf`	Model-Based Reinforcement Learning via Imagination with Derived Memory. NeurIPS Yao Mu, Yuzheng Zhuang, Bin Wang, Guangxiang Zhu, Wulong Liu, Jianyu Chen, Ping Luo, Shengbo Li, Chongjie Zhang, Jianye Hao
2021	J	`jnl`	Model-based Chance-Constrained Reinforcement Learning via Separated Proportional-Integral Lagrangian. CoRR Baiyu Peng, Jingliang Duan, Jianyu Chen, Shengbo Eben Li, Genjin Xie, Congsheng Zhang, Yang Guan, Yao Mu, Enxin Sun
2021	A	`conf`	Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function. IROS Haitong Ma, Jianyu Chen, Shengbo Eben Li, Ziyu Lin, Yang Guan, Yangang Ren, Sifa Zheng
2021	J	`jnl`	Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function. CoRR Haitong Ma, Jianyu Chen, Shengbo Eben Li, Ziyu Lin, Yang Guan, Yangang Ren, Sifa Zheng
2021	C	`conf`	Separated Proportional-Integral Lagrangian for Chance Constrained Reinforcement Learning. IV Baiyu Peng, Yao Mu, Jingliang Duan, Yang Guan, Shengbo Eben Li, Jianyu Chen
2021	J	`jnl`	Separated Proportional-Integral Lagrangian for Chance Constrained Reinforcement Learning. CoRR Baiyu Peng, Yao Mu, Jingliang Duan, Yang Guan, Shengbo Eben Li, Jianyu Chen
2021	J	`jnl`	Steadily Learn to Drive with Virtual Memory. CoRR Yuhang Zhang, Yao Mu, Yujie Yang, Yang Guan, Shengbo Eben Li, Qi Sun, Jianyu Chen
2020	A	`conf`	End-to-end Autonomous Driving Perception with Sequential Latent Representation Learning. IROS Jianyu Chen, Zhuo Xu, Masayoshi Tomizuka
2020	J	`jnl`	End-to-end Autonomous Driving Perception with Sequential Latent Representation Learning. CoRR Jianyu Chen, Zhuo Xu, Masayoshi Tomizuka
2020	J	`jnl`	Guided Policy Search Model-based Reinforcement Learning for Urban Autonomous Driving. CoRR Zhuo Xu, Jianyu Chen, Masayoshi Tomizuka
2020	J	`jnl`	Interpretable End-to-end Urban Autonomous Driving with Latent Deep Reinforcement Learning. CoRR Jianyu Chen, Shengbo Eben Li, Masayoshi Tomizuka
2020	J	`jnl`	Model-Based Actor-Critic with Chance Constraint for Stochastic System. CoRR Baiyu Peng, Yao Mu, Yang Guan, Shengbo Eben Li, Yuming Yin, Jianyu Chen
2019	A*	`conf`	Adaptive Probabilistic Vehicle Trajectory Prediction Through Physically Feasible Bayesian Recurrent Neural Network. ICRA Chen Tang, Jianyu Chen, Masayoshi Tomizuka
2019	J	`jnl`	Adaptive Probabilistic Vehicle Trajectory Prediction Through Physically Feasible Bayesian Recurrent Neural Network. CoRR Chen Tang, Jianyu Chen, Masayoshi Tomizuka
2019	J	`jnl`	Autonomous Driving Motion Planning With Constrained Iterative LQR. IEEE Trans. Intell. Veh. Jianyu Chen, Wei Zhan, Masayoshi Tomizuka
2019	A	`conf`	Deep Imitation Learning for Autonomous Driving in Generic Urban Scenarios with Enhanced Safety. IROS Jianyu Chen, Bodi Yuan, Masayoshi Tomizuka
2019	J	`jnl`	Deep Imitation Learning for Autonomous Driving in Generic Urban Scenarios with Enhanced Safety. CoRR Jianyu Chen, Bodi Yuan, Masayoshi Tomizuka
2019	J	`jnl`	Intention-aware Long Horizon Trajectory Prediction of Surrounding Vehicles using Dual LSTM Networks. CoRR Long Xin, Pin Wang, Ching-Yao Chan, Jianyu Chen, Shengbo Eben Li, Bo Cheng
2019	—	`conf`	Model-free Deep Reinforcement Learning for Urban Autonomous Driving. ITSC Jianyu Chen, Bodi Yuan, Masayoshi Tomizuka
2019	J	`jnl`	Model-free Deep Reinforcement Learning for Urban Autonomous Driving. CoRR Jianyu Chen, Bodi Yuan, Masayoshi Tomizuka
2018	B	`conf`	Continuous Decision Making for On-road Autonomous Driving under Uncertain and Interactive Environments. Intelligent Vehicles Symposium Jianyu Chen, Chen Tang, Long Xin, Shengbo Eben Li, Masayoshi Tomizuka
2018	B	`conf`	Deep Hierarchical Reinforcement Learning for Autonomous Driving with Distinct Behaviors. Intelligent Vehicles Symposium Jianyu Chen, Zining Wang, Masayoshi Tomizuka
2018	C	`conf`	FOAD: Fast Optimization-based Autonomous Driving Motion Planner. ACC Jianyu Chen, Changliu Liu, Masayoshi Tomizuka
2018	—	`conf`	Intention-aware Long Horizon Trajectory Prediction of Surrounding Vehicles using Dual LSTM Networks. ITSC Long Xin, Pin Wang, Ching-Yao Chan, Jianyu Chen, Shengbo Eben Li, Bo Cheng
2018	A	`conf`	Iterative Cross Learning on Noisy Labels. WACV Bodi Yuan, Jianyu Chen, Weidong Zhang, Hung-Shuo Tai, Sara McMains
2017	—	`conf`	Constrained iterative LQR for on-road autonomous driving motion planning. ITSC Jianyu Chen, Wei Zhan, Masayoshi Tomizuka
2017	B	`conf`	Spatially-partitioned environmental representation and planning architecture for on-road autonomous driving. Intelligent Vehicles Symposium Wei Zhan, Jianyu Chen, Ching-Yao Chan, Changliu Liu, Masayoshi Tomizuka