Hsu-kuang Chiu

PhD student, Carnegie Mellon University, School of Computer Science, Robotics Institute
hsukuanc [at] cs [dot] cmu [dot] edu
Google Scholar
first-author paper citations > 450
total paper citations > 900
Github / Twitter / LinkedIn


I am a PhD student at the Robotics Institute
, School of Computer Science of Carnegie Mellon University. My research interests are Computer Vision, Robotics, Autonomous Driving, and Multi-Robot Coordination. My advisor is Prof. Stephen Smith.

Before joining CMU, I was a software engineer at Waymo (formerly the Google Self-Driving Car project). I worked on computer vision algorithms and deep learning models for camera-lidar sensor fusion, vehicle shape classification, and point cloud semantic segmentation. Here is the video link of my Waymo autonomous driving vehicle ride around San Francisco.

Before joining Waymo, I graduated from the Stanford Computer Science master program with an overall GPA 4.19 / 4.30. My research interests include Computer Vision, Robotics, and Deep Learning. I worked on 3D multi-object tracking for autonomous driving in the Stanford Interactive Perception and Robot Learning Lab, advised by Prof. Jeannette Bohg. I also worked on human pose forecasting and street scene segmentation forecasting in the Stanford Vision and Learning Lab, advised by Prof. Juan Carlos Niebles and Prof. Ehsan Adeli.

Before joining Stanford CS, I worked at LinkedIn and Oracle as a senior software engineer. Before that I completed my MS EE degree also at Stanford University, and my BS EE degree at National Taiwan University with a class rank 7 out of 176 students (top 4%).


Publication

Probabilistic 3D Multi-Object Cooperative Tracking for Autonomous Driving via Differentiable Multi-Sensor Kalman Filter
Hsu-kuang Chiu, Chien-Yi Wang, Min-Hung Chen, and Stephen F. Smith.
News! Accepted by
IEEE International Conference on Robotics and Automation (ICRA), 2024
project arXiv code

Collision Avoidance Detour for Multi-Agent Trajectory Forecasting
Hsu-kuang Chiu and Stephen F. Smith.
Third Place Award, Waymo Open Dataset Challenge - Sim Agents
Workshop on Autonomous Driving of IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR Workshop), 2023
arXiv

Selective Communication for Cooperative Perception in End-to-End Autonomous Driving
Hsu-kuang Chiu and Stephen F. Smith.
Scalable Autonomous Driving Workshop of IEEE International Conference on Robotics and Automation (ICRA Workshop), 2023
arXiv video

Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Driving
Hsu-kuang Chiu, Jie Li, Rares Ambrus, and Jeannette Bohg.
IEEE International Conference on Robotics and Automation (ICRA), 2021
arXiv video

Segmenting the Future
Hsu-kuang Chiu, Ehsan Adeli, and Juan Carlos Niebles.
IEEE Robotics and Automation Letters (RA-L), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
arXiv video

Probabilistic 3D Multi-Object Tracking for Autonomous Driving
Hsu-kuang Chiu, Antonio Prioletti, Jie Li, and Jeannette Bohg.
First Place Award, NuScenes Tracking Challenge
AI Driving Olympics Workshop of Conference on Neural Information Processing Systems (NeurIPS Workshop), 2019
arXiv code

Imitation Learning for Human Pose Prediction
Borui Wang, Ehsan Adeli, Hsu-kuang Chiu, De-An Huang, and Juan Carlos Niebles.
IEEE/CVF International Conference on Computer Vision (ICCV), 2019
arXiv

Action-Agnostic Human Pose Forecasting
Hsu-kuang Chiu, Ehsan Adeli, Borui Wang, De-An Huang, and Juan Carlos Niebles.
IEEE Winter Conference on Applications of Computer Vision (WACV), 2019
arXiv pdf code poster video

An Integrated Machine Learning Approach to Stroke Prediction
Aditya Khosla, Yu Cao, Cliff Chiung-Yu Lin, Hsu-kuang Chiu, Junling Hu, and Honglak Lee.
ACM SIGKDD International Conference on Knowledge Discovery and Data Mining (KDD), 2010
pdf

A 212M pixels/s 4096×2160p Multiview Video Encoder Chip for 3D/Quad HDTV Applications
Li-Fu Ding, Wei-Yin Chen, Pei-Kuei Tsung, Tzu-Der Chuang, Hsu-Kuang Chiu, Yu-Han Chen, Pai-Heng Hsiao, Shao-Yi Chien, Tung-Chien Chen, Ping-Chih Lin, Chia-Yu Chang, Liang-Gee Chen.
IEEE International Solid-State Circuits Conference (ISSCC), 2009

Real-Time Depth Image based Rendering Hardware Accelerator for Advanced Three Dimensional Television System
Wan-Yu Chen, Yu-Lin Chang, Hsu-Kuang Chiu, Shao-Yi Chien, Liang-Gee Chen.
IEEE International Conference on Multimedia & Expo (ICME), 2006

Reviewer of Journals and Conferences

  • IEEE Robotics and Automation Letters (RA-L), 2021, 2022, 2023, 2024.
  • IEEE Transactions on Robotics (T-RO), 2022, 2023, 2024.
  • IEEE International Conference on Robotics and Automation (ICRA), 2021, 2022, 2023, 2024.
  • IEEE International Conference on Intelligent Robots and Systems (IROS), 2022, 2024.
  • IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021, 2022, 2023, 2024.
  • IEEE International Conference on Computer Vision (ICCV), 2021, 2023.
  • European Conference on Computer Vision (ECCV), 2022, 2024.
  • Asian Conference on Computer Vision (ACCV), 2024.
  • IEEE Winter Conference on Applications of Computer Vision (WACV), 2021, 2022, 2023.
  • IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2022, 2023.
  • AAAI Conference on Artificial Intelligence (AAAI), 2021, 2025.

Carnegie Mellon University AI Courses

  • 16-664: Self-Driving Cars: Perception & Control, Grade: A+
  • 16-720: Computer Vision, Grade: A+
  • 16-761: Mobile Robots, Grade: A+
  • 16-811: Math Fundamentals for Robotics, Grade: A
  • 16-824: Visual Learning and Recognition, Grade: A
  • 16-891: Multi-Robot Planning and Coordination, Grade: A

Stanford University AI Courses

  • CS205A: Mathematical Methods for Robotics, Vision, and Graphics, Grade: A+
  • CS224N: Natural Language Processing with Deep Learning, Grade: A
  • CS229: Machine Learning, Grade: A
  • CS230: Deep Learning, Grade: A
  • CS231N: Convolutional Neural Networks for Visual Recognition, Grade: A+
  • CS238: Decision Making under Uncertainty, Grade: A+

Awards

  • Third Place Award, Waymo Open Dataset Challenge - Sim Agents, Workshop on Autonomous Driving in CVPR 2023
  • Third Place Award, NuScenes Tracking Challenge in ICRA 2021
  • First Place Award, NuScenes Tracking Challenge, AI Driving Olympics Workshop in NeurIPS 2019
  • Presidental Award, National Taiwan University
  • Dean's List Award, National Taiwan University
  • Silver Medal Award, Asian Physics Olympiad