2024
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iWalker: Imperative Visual Planning for Walking Humanoid Robot.arXiv preprint arXiv:2409.18361, 2024.
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Bundle Adjustment in the Eager Mode.arXiv preprint arXiv:2409.12190, 2024.
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Imperative Learning: A Self-supervised Neural-Symbolic Learning Framework for Robot Autonomy.arXiv preprint arXiv:2406.16087, 2024.
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AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System.arXiv preprint arXiv:2408.03520, 2024.
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LogiCity: Advancing Neuro-Symbolic AI with Abstract Urban Simulation.Advances in Neural Information Processing Systems (NeurIPS), 2024.
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Map It Anywhere (MIA): Empowering Bird’s Eye View Mapping using Large-scale Public Data.Advances in Neural Information Processing Systems (NeurIPS), 2024.
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iMatching: Imperative Correspondence Learning.European Conference on Computer Vision (ECCV), 2024.
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PhysORD: A Neuro-Symbolic Approach for Physics-infused Motion Prediction in Off-road Driving.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
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iMTSP: Solving Min-Max Multiple Traveling Salesman Problem with Imperative Learning.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
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Learning-on-the-Drive: Self-supervised Adaptive Long-range Perception for High-speed Offroad Driving.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
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AirShot: Efficient Few-Shot Detection for Autonomous Exploration.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
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iSLAM: Imperative SLAM.IEEE Robotics and Automation Letters (RA-L), 2024.
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Salient Sparse Visual Odometry With Pose-Only Supervision.IEEE Robotics and Automation Letters (RA-L), 2024.
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Neural Markov Random Field for Stereo Matching.IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
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SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments.IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
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iA*: Imperative Learning-based A* Search for Pathfinding.arXiv preprint arXiv:2403.15870, 2024.
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Non-iterative SLAM for Warehouse Robots Using Ground Textures.arXiv preprint arXiv:1710.05502, 2024.
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AirIMU: Learning Uncertainty Propagation for Inertial Odometry.arXiv preprint arXiv:2310.04874, 2024.
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Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis.arXiv preprint arXiv:2312.08782, 2024.
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AirLoc: Object-based Indoor Relocalization.arXiv preprint arXiv:2304.00954, 2024.
2023
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VoxDet: Voxel Learning for Novel Instance Detection.Advances in Neural Information Processing Systems (NeurIPS), 2023.
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FDCT: A Fast Depth Completion Network for Transparent Objects.IEEE Robotics and Automation Letters (RA-L), 2023.
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PyPose v0.6: The Imperative Programming Interface for Robotics.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop, 2023.
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iPlanner: Imperative Path Planning.Robotics: Science and Systems (RSS), 2023.
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Off-Policy Evaluation with Online Adaptation for Robot Exploration in Challenging Environments.IEEE Robotics and Automation Letters (RA-L), 2023.
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AirVO: An Illumination-Robust Point-Line Visual Odometry.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
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AirLine: Efficient Learnable Line Detection with Local Edge Voting.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
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PyPose: A Library for Robot Learning with Physics-based Optimization.IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023.
2022
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Lifelong Graph Learning.IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.
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Robotic Interestingness via Human-Informed Few-Shot Object Detection.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
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AirDet: Few-Shot Detection without Fine-tuning for Autonomous Exploration.European Conference on Computer Vision (ECCV), 2022.
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AirObject: A Temporally Evolving Graph Embedding for Object Identification.IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.
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AirLoop: Lifelong Loop Closure Detection.International Conference on Robotics and Automation (ICRA), 2022.
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AirDOS: Dynamic SLAM benefits from Articulated Objects.International Conference on Robotics and Automation (ICRA), 2022.
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AirCode: A Robust Object Encoding Method.IEEE Robotics and Automation Letters (RA-L), 2022.
2021
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Unsupervised Online Learning for Robotic Interestingness with Visual Memory.IEEE Transactions on Robotics (TRO), 2021.
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Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment.IEEE Robotics and Automation Letters (RA-L), 2021.
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Lightweight 3-D Localization and Mapping for Solid-State LiDAR.IEEE Robotics and Automation Letters (RA-L), 2021.
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Towards Real-time Semantic RGB-D SLAM in Dynamic Environments.2021 International Conference on Robotics and Automation (ICRA), 2021.
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F-LOAM: Fast LiDAR Odometry And Mapping.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
2020
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Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection.2020 International Conference on Robotics and Automation (ICRA), pp. 2095–2101, 2020.
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TartanAir: A Dataset to Push the Limits of Visual SLAM.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4909–4916, 2020.
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Visual Memorability for Robotic Interestingness via Unsupervised Online Learning.European Conference on Computer Vision (ECCV), pp. 52–68, 2020.
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Online Visual Place Recognition via Saliency Re-identification.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5030–5036, 2020.
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Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader.IEEE Transactions on Cybernetics, pp. 1405–1414, 2020.
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Graph Optimization Approach to Range-based Localization.IEEE Transactions on Systems, Man and Cybernetics: Systems, pp. 6830–6841, 2020.
2019
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Kervolutional Neural Networks.IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 31–40, 2019.
2018
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Kernel Cross-Correlator.Thirty-Second AAAI Conference on Artificial Intelligence (AAAI), pp. 4179–4186, 2018.
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Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators.International Conference on Robotics and Automation (ICRA), pp. 836–841, 2018.
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Robust Target-relative Localization with Ultra-Wideband Ranging and Communication.2018 International Conference on Robotics and Automation (ICRA), pp. 2312–2319, 2018.
2017
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Ultra-Wideband Aided Fast Localization and Mapping System.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1602–1609, 2017.
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Non-iterative SLAM.International Conference on Advanced Robotics (ICAR), pp. 83–90, 2017.