Publications

Our publications appear in top venues in robotics

2023

  • [1]
    iMatching: Imperative Correspondence Learning.
    Zitong Zhan, Dasong Gao, Yun-Jou Lin, Youjie Xia, Chen Wang.
    arXiv preprint arXiv:2312.02141, 2023.

    SAIR Lab Recommended
  • [2]
    iSLAM: Imperative SLAM.
    Taimeng Fu, Shaoshu Su, Yiren Lu, Chen Wang.
    arXiv preprint arXiv:2306.07894, 2023.

    SAIR Lab Recommended
  • [3]
    VoxDet: Voxel Learning for Novel Instance Detection.
    Bowen Li, Jiashun Wang, Yaoyu Hu, Chen Wang, Sebastian Scherer.
    Advances in Neural Information Processing Systems (NeurIPS), 2023.

    Selected as Spotlight
  • [4]
    FDCT: A Fast Depth Completion Network for Transparent Objects.
    Tianan Li, Zhehan Chen, Huan Liu, Chen Wang.
    IEEE Robotics and Automation Letters (RA-L), 2023.

  • [5]
    PyPose v0.6: The Imperative Programming Interface for Robotics.
    Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, Abhinav Pandey, Haitao Xiao, Yangmengfei Xu, Xiangyu Chen, Kuan Xu, Kun Cao, Zhipeng Zhao, Zihan Wang, Huan Xu, Zihang Fang, Yutian Chen, Wentao Wang, Xu Fang, Yi Du, Tianhao Wu, Xiao Lin, Yuheng Qiu, Fan Yang, Jingnan Shi, Shaoshu Su, Yiren Lu, Taimeng Fu, Karthik Dantu, Jiajun Wu, Lihua Xie, Marco Hutter, Luca Carlone, Sebastian Scherer, Daning Huang, Yaoyu Hu, Junyi Geng, Chen Wang.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop, 2023.

  • [6]
    iPlanner: Imperative Path Planning.
    Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter.
    Robotics: Science and Systems (RSS), 2023.

    SAIR Lab Recommended
  • [7]
    Off-Policy Evaluation with Online Adaptation for Robot Exploration in Challenging Environments.
    Yafei Hu, Junyi Geng, Chen Wang, John Keller, Sebastian Scherer.
    IEEE Robotics and Automation Letters (RA-L), 2023.

    Accepted to IROS 2023
  • [8]
    AirVO: An Illumination-Robust Point-Line Visual Odometry.
    Kuan Xu, Yuefan Hao, Shenghai Yuan, Chen Wang, Lihua Xie.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

    SAIR Lab Recommended
  • [9]
    AirLine: Efficient Learnable Line Detection with Local Edge Voting.
    Xiao Lin, Chen Wang.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

  • [10]
    PyPose: A Library for Robot Learning with Physics-based Optimization.
    Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Kun Cao, Yi Du, Han Wang, Huai Yu, Shanzhao Wang, Siyu Chen, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Lihua Xie, Luca Carlone, Marco Hutter, Sebastian Scherer.
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023.

    SAIR Lab Recommended
  • [11]
    Non-iterative SLAM for Warehouse Robots Using Ground Textures.
    Kuan Xu, Zheng Yang, Lihua Xie, Chen Wang.
    arXiv preprint arXiv:1710.05502, 2023.

    SAIR Lab Recommended
  • [12]
    AirIMU: Learning Uncertainty Propagation for Inertial Odometry.
    Yuheng Qiu, Chen Wang, Xunfei Zhou, Youjie Xia, Sebastian Scherer.
    arXiv preprint arXiv:2310.04874, 2023.

  • [13]
    Learning-on-the-Drive: Self-supervised Adaptation of Visual Offroad Traversability Models.
    Eric Chen, Cherie Ho, Mukhtar Maulimov, Chen Wang, Sebastian Scherer.
    arXiv preprint arXiv:2306.15226, 2023.

  • [14]
    SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments.
    Shibo Zhao, Yuanjun Gao, Tianhao Wu, Damanpreet Singh, Rushan Jiang, Haoxiang Sun, Mansi Sarawata, Warren C Whittaker, Ian Higgins, Shaoshu Su, Yi Du, Can Xu, John Keller, Jay Karhade, Lucas Nogueira, Sourojit Saha, Yuheng Qiu, Ji Zhang, Wenshan Wang, Chen Wang, Sebastian Scherer.
    arXiv preprint arXiv:2307.07607, 2023.

  • [15]
    Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis.
    Yafei Hu, Quanting Xie, Vidhi Jain, Jonathan Francis, Jay Patrikar, Nikhil Keetha, Seungchan Kim, Yaqi Xie, Tianyi Zhang, Shibo Zhao, Yu-Quan Chong, Chen Wang, Katia Sycara, Matthew Johnson-Roberson, Dhruv Batra, Xiaolong Wang, Sebastian Scherer, Zsolt Kira, Fei Xia, Yonatan Bisk.
    arXiv preprint arXiv:2312.08782, 2023.

  • [16]
    AirLoc: Object-based Indoor Relocalization.
    Aryan, Bowen Li, Sebastian Scherer, Yun-Jou Lin, Chen Wang.
    arXiv preprint arXiv:2304.00954, 2023.

  • 2022

  • [1]
    Lifelong Graph Learning.
    Chen Wang, Yuheng Qiu, Dasong Gao, Sebastian Scherer.
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

    Selected as Oral Presentation (4.2%)
  • [2]
    Robotic Interestingness via Human-Informed Few-Shot Object Detection.
    Seungchan Kim, Chen Wang, Bowen Li, Sebastian Scherer.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

  • [3]
    AirDet: Few-Shot Detection without Fine-tuning for Autonomous Exploration.
    Bowen Li, Chen Wang, Pranay Reddy, Seungchan Kim, Sebastian Scherer.
    European Conference on Computer Vision (ECCV), 2022.

  • [4]
    AirObject: A Temporally Evolving Graph Embedding for Object Identification.
    Nikhil Varma Keetha, Chen Wang, Yuheng Qiu, Kuan Xu, Sebastian Scherer.
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

  • [5]
    AirLoop: Lifelong Loop Closure Detection.
    Dasong Gao, Chen Wang, Sebastian Scherer.
    International Conference on Robotics and Automation (ICRA), 2022.

  • [6]
    AirDOS: Dynamic SLAM benefits from Articulated Objects.
    Yuheng Qiu, Chen Wang, Wenshan Wang, Mina Henein, Sebastian Scherer.
    International Conference on Robotics and Automation (ICRA), 2022.

  • [7]
    AirCode: A Robust Object Encoding Method.
    Kuan Xu, Chen Wang, Chao Chen, Wei Wu, Sebastian Scherer.
    IEEE Robotics and Automation Letters (RA-L), 2022.

    Accepted to ICRA 2022
  • 2021

  • [1]
    Unsupervised Online Learning for Robotic Interestingness with Visual Memory.
    Chen Wang, Wenshan Wang, Yuheng Qiu, Yafei Hu, Seungchan Kim, Sebastian Scherer.
    IEEE Transactions on Robotics (TRO), 2021.

  • [2]
    Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment.
    Han Wang, Chen Wang, Lihua Xie.
    IEEE Robotics and Automation Letters (RA-L), 2021.

    Presented at ICRA 2021
  • [3]
    Lightweight 3-D Localization and Mapping for Solid-State LiDAR.
    Han Wang, Chen Wang, Lihua Xie.
    IEEE Robotics and Automation Letters (RA-L), 2021.

    Presented at ICRA 2021
  • [4]
    Towards Real-time Semantic RGB-D SLAM in Dynamic Environments.
    Tete Ji, Chen Wang, Lihua Xie.
    2021 International Conference on Robotics and Automation (ICRA), 2021.

  • [5]
    F-LOAM: Fast LiDAR Odometry And Mapping.
    Han Wang, Chen Wang, Chun-Lin Chen, Lihua Xie.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

  • 2020

  • [1]
    Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection.
    Han Wang, Chen Wang, Lihua Xie.
    2020 International Conference on Robotics and Automation (ICRA), pp. 2095–2101, 2020.

  • [2]
    TartanAir: A Dataset to Push the Limits of Visual SLAM.
    Wenshan Wang, Delong Zhu, Xiangwei Wang, Yaoyu Hu, Yuheng Qiu, Chen Wang, Yafei Hu Hu, Ashish Kapoor, Sebastian Scherer.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4909–4916, 2020.

  • [3]
    Visual Memorability for Robotic Interestingness via Unsupervised Online Learning.
    Chen Wang, Wenshan Wang, Yuheng Qiu, Yafei Hu, Sebastian Scherer.
    European Conference on Computer Vision (ECCV), pp. 52–68, 2020.

    Selected as Oral Presentation (2%)
  • [4]
    Online Visual Place Recognition via Saliency Re-identification.
    Han Wang, Chen Wang, Lihua Xie.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5030–5036, 2020.

  • [5]
    Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader.
    Xu Fang, Chen Wang, Lihua Xie, Jie Chen.
    IEEE Transactions on Cybernetics, pp. 1405–1414, 2020.

  • [6]
    Graph Optimization Approach to Range-based Localization.
    Xu Fang, Chen Wang, Thien-Minh Nguyen, Lihua Xie.
    IEEE Transactions on Systems, Man and Cybernetics: Systems, pp. 6830–6841, 2020.

  • 2019

  • [1]
    Kervolutional Neural Networks.
    Chen Wang, Jianfei Yang, Lihua Xie, Junsong Yuan.
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 31–40, 2019.

    Selected as Oral Presentation (5.6%)
  • 2018

  • [1]
    Kernel Cross-Correlator.
    Chen Wang, Le Zhang, Lihua Xie, Junsong Yuan.
    Thirty-Second AAAI Conference on Artificial Intelligence (AAAI), pp. 4179–4186, 2018.

    SAIR Lab Recommended
  • [2]
    Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators.
    Chen Wang, Tete Ji, Thien-Minh Nguyen, Lihua Xie.
    2018 International Conference on Robotics and Automation (ICRA), pp. 836–841, 2018.

  • [3]
    Robust Target-relative Localization with Ultra-Wideband Ranging and Communication.
    Thien-Minh Nguyen, Abdul Hanif Zaini, Chen Wang, Kexin Guo, Lihua Xie.
    2018 International Conference on Robotics and Automation (ICRA), pp. 2312–2319, 2018.

  • [4]
    Model-free Approach for Sensor Network Localization with Noisy Distance Measurement.
    Xu Fang, Chen Wang, Thien-Minh Nguyen, Lihua Xie.
    International Conference on Control, Automation, Robotics and Vision (ICARCV), pp. 1973–1978, 2018.

  • 2017

  • [1]
    Ultra-Wideband Aided Fast Localization and Mapping System.
    Chen Wang, Handuo Zhang, Thien-Minh Nguyen, Lihua Xie.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1602–1609, 2017.

  • [2]
    Non-iterative SLAM.
    Chen Wang, Junsong Yuan, Lihua Xie.
    International Conference on Advanced Robotics (ICAR), pp. 83–90, 2017.

    Best Paper Award in Robotic Planning