Taimeng Fu is a Ph.D. student at the Department of Computer Science and Engineering (CSE), University at Buffalo (UB). His research interests lie at the intersection of SLAM Systems and Machine Learning. He has received a Presidential Fellowship. He received the SAIR Rising STAR Award 2024, which was the highest honor for junior researchers in SAIR Lab.

Experience

Robotics Institute Summer Scholars Program
- Carnegie Mellon University, Pittsburgh, USA
- Jun. 2021 - Aug. 2021

Education

Ph.D. in Computer Science
- University at Buffalo (UB), USA
- Aug. 2023 - Present
Bachelor of Science in Computer Science and Engineering
- Chinese University of Hong Kong, Shenzhen, China
- Sep. 2019 - June 2023

Awards

Presidential Fellowship
SAIR Rising STAR Award 2024
IROS 2025 Best Workshop Paper Award

Emails

Work Email: taimengf@sairlab.org
Work Email: futaimeng@gmail.com

Publications

iWalker: Imperative Visual Planning for Walking Humanoid Robot.
Xiao Lin, Yuhao Huang, Taimeng Fu, Xiaobin Xiong, Chen Wang.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2865–2872, 2025.

Highlighted as an iSeries Article in Humanoid Robots; Best Workshop Paper Award
```
@inproceedings{lin2025iwalker,
  title = {{iWalker}: Imperative Visual Planning for Walking Humanoid Robot},
  author = {Lin, Xiao and Huang, Yuhao and Fu, Taimeng and Xiong, Xiaobin and Wang, Chen},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2865--2872},
  year = {2025},
  url = {https://arxiv.org/abs/2409.18361},
  video = {https://youtu.be/FPV74PznzTU},
  website = {https://sairlab.org/iwalker},
  addendum = {Highlighted as an iSeries Article in Humanoid Robots; Best Workshop Paper Award}
}
```
```
Lin, Xiao and Huang, Yuhao and Fu, Taimeng and Xiong, Xiaobin and Wang, Chen, "iWalker: Imperative Visual Planning for Walking Humanoid Robot," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
```
Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomy.
Chen Wang, Kaiyi Ji, Junyi Geng, Zhongqiang Ren, Taimeng Fu, Fan Yang, Yifan Guo, Haonan He, Xiangyu Chen, Zitong Zhan, Qiwei Du, Shaoshu Su, Bowen Li, Yuheng Qiu, Yi Du, Qihang Li, Yifan Yang, Xiao Lin, Zhipeng Zhao.
International Journal of Robotics Research (IJRR), 2025.

Unifying Neuro-Symbolic Robot Autonomy via a Unified Paradigm
```
@article{wang2025imperative,
  title = {Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomy},
  author = {Wang, Chen and Ji, Kaiyi and Geng, Junyi and Ren, Zhongqiang and Fu, Taimeng and Yang, Fan and Guo, Yifan and He, Haonan and Chen, Xiangyu and Zhan, Zitong and Du, Qiwei and Su, Shaoshu and Li, Bowen and Qiu, Yuheng and Du, Yi and Li, Qihang and Yang, Yifan and Lin, Xiao and Zhao, Zhipeng},
  journal = {International Journal of Robotics Research (IJRR)},
  year = {2025},
  url = {https://arxiv.org/abs/2406.16087},
  code = {https://github.com/sair-lab/iSeries},
  website = {https://sairlab.org/iseries},
  addendum = {Unifying Neuro-Symbolic Robot Autonomy via a Unified Paradigm}
}
```
```
Wang, Chen and Ji, Kaiyi and Geng, Junyi and Ren, Zhongqiang and Fu, Taimeng and Yang, Fan and Guo, Yifan and He, Haonan and Chen, Xiangyu and Zhan, Zitong and Du, Qiwei and Su, Shaoshu and Li, Bowen and Qiu, Yuheng and Du, Yi and Li, Qihang and Yang, Yifan and Lin, Xiao and Zhao, Zhipeng, "Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomy," International Journal of Robotics Research (IJRR), 2025.
```
Vision-Language Memory for Spatial Reasoning.
Zuntao Liu, Yi Du, Taimeng Fu, Shaoshu Su, Cherie Ho, Chen Wang.
arXiv preprint arXiv:2511.20644, 2025.
```
@article{liu2025vlm2,
  title = {Vision-Language Memory for Spatial Reasoning},
  author = {Liu, Zuntao and Du, Yi and Fu, Taimeng and Su, Shaoshu and Ho, Cherie and Wang, Chen},
  year = {2025},
  journal = {arXiv preprint arXiv:2511.20644},
  url = {https://arxiv.org/abs/2511.20644},
  website = {https://sairlab.org/vlm2/}
}
```
```
Liu, Zuntao and Du, Yi and Fu, Taimeng and Su, Shaoshu and Ho, Cherie and Wang, Chen, "Vision-Language Memory for Spatial Reasoning," arXiv preprint arXiv:2511.20644, 2025.
```
Fast Task Planning with Neuro-Symbolic Relaxation.
Qiwei Du, Bowen Li, Yi Du, Shaoshu Su, Taimeng Fu, Zitong Zhan, Zhipeng Zhao, Chen Wang.
arXiv preprint arXiv:2507.15975, 2025.
```
@article{du2025fast,
  title = {Fast Task Planning with Neuro-Symbolic Relaxation},
  author = {Du, Qiwei and Li, Bowen and Du, Yi and Su, Shaoshu and Fu, Taimeng and Zhan, Zitong and Zhao, Zhipeng and Wang, Chen},
  year = {2025},
  journal = {arXiv preprint arXiv:2507.15975},
  url = {https://arxiv.org/abs/2507.15975},
  website = {https://sairlab.org/flax/},
  video = {https://youtu.be/_4DYcqwycnQ}
}
```
```
Du, Qiwei and Li, Bowen and Du, Yi and Su, Shaoshu and Fu, Taimeng and Zhan, Zitong and Zhao, Zhipeng and Wang, Chen, "Fast Task Planning with Neuro-Symbolic Relaxation," arXiv preprint arXiv:2507.15975, 2025.
```
VL-Nav: Real-time Vision-Language Navigation with Spatial Reasoning.
Yi Du, Taimeng Fu, Zhuoqun Chen, Bowen Li, Shaoshu Su, Zhipeng Zhao, Chen Wang.
arXiv preprint arXiv:2502.00931, 2025.

Deployment-Ready Neuro-Symbolic Vision-Language Navigation
```
@article{du2025vlnav,
  title = {{VL-Nav}: Real-time Vision-Language Navigation with Spatial Reasoning},
  author = {Du, Yi and Fu, Taimeng and Chen, Zhuoqun and Li, Bowen and Su, Shaoshu and Zhao, Zhipeng and Wang, Chen},
  year = {2025},
  journal = {arXiv preprint arXiv:2502.00931},
  url = {https://arxiv.org/abs/2502.00931},
  website = {https://sairlab.org/vlnav/},
  addendum = {Deployment-Ready Neuro-Symbolic Vision-Language Navigation}
}
```
```
Du, Yi and Fu, Taimeng and Chen, Zhuoqun and Li, Bowen and Su, Shaoshu and Zhao, Zhipeng and Wang, Chen, "VL-Nav: Real-time Vision-Language Navigation with Spatial Reasoning," arXiv preprint arXiv:2502.00931, 2025.
```
AnyNav: Visual Neuro-symbolic Friction Learning for Off-road Navigation.
Taimeng Fu, Zitong Zhan, Zhipeng Zhao, Shaoshu Su, Xiao Lin, Ehsan Tarkesh Esfahani, Karthik Dantu, Souma Chowdhury, Chen Wang.
arXiv preprint arXiv:2501.12654, 2025.

A Self-Supervised Friction Estimation Framework
```
@article{fu2025anynav,
  title = {{AnyNav}: Visual Neuro-symbolic Friction Learning for Off-road Navigation},
  author = {Fu, Taimeng and Zhan, Zitong and Zhao, Zhipeng and Su, Shaoshu and Lin, Xiao and Esfahani, Ehsan Tarkesh and Dantu, Karthik and Chowdhury, Souma and Wang, Chen},
  journal = {arXiv preprint arXiv:2501.12654},
  year = {2025},
  url = {https://arxiv.org/abs/2501.12654},
  website = {https://sairlab.org/anynav/},
  addendum = {A Self-Supervised Friction Estimation Framework}
}
```
```
Fu, Taimeng and Zhan, Zitong and Zhao, Zhipeng and Su, Shaoshu and Lin, Xiao and Esfahani, Ehsan Tarkesh and Dantu, Karthik and Chowdhury, Souma and Wang, Chen, "AnyNav: Visual Neuro-symbolic Friction Learning for Off-road Navigation," arXiv preprint arXiv:2501.12654, 2025.
```
PhysORD: A Neuro-Symbolic Approach for Physics-infused Motion Prediction in Off-road Driving.
Zhipeng Zhao, Bowen Li, Yi Du, Taimeng Fu, Chen Wang.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11670–11677, 2024.

Neuro-Symbolic Learning Achieves 46% Higher Accuracy Using 3% Model Size
```
@inproceedings{zhao2024physord,
  title = {{PhysORD}: A Neuro-Symbolic Approach for Physics-infused Motion Prediction in Off-road Driving},
  author = {Zhao, Zhipeng and Li, Bowen and Du, Yi and Fu, Taimeng and Wang, Chen},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2024},
  pages = {11670--11677},
  url = {https://arxiv.org/abs/2404.01596},
  code = {https://github.com/sair-lab/PhysORD},
  video = {https://youtu.be/kYa9dAyUkYI},
  website = {https://sairlab.org/physord},
  addendum = {Neuro-Symbolic Learning Achieves 46\% Higher Accuracy Using 3\% Model Size}
}
```
```
Zhao, Zhipeng and Li, Bowen and Du, Yi and Fu, Taimeng and Wang, Chen, "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.
```
iSLAM: Imperative SLAM.
Taimeng Fu, Shaoshu Su, Yiren Lu, Chen Wang.
IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 5, pp. 4607–4614, 2024.

Presented at ICRA 2025 Highlighted as an iSeries Article in SLAM
```
@article{fu2024islam,
  title = {{iSLAM}: Imperative {SLAM}},
  author = {Fu, Taimeng and Su, Shaoshu and Lu, Yiren and Wang, Chen},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2024},
  volume = {9},
  number = {5},
  pages = {4607--4614},
  url = {https://arxiv.org/abs/2306.07894},
  code = {https://github.com/sair-lab/iSLAM/},
  video = {https://youtu.be/rtCvx0XCRno},
  website = {https://sairlab.org/iSLAM},
  addinfo = {Presented at ICRA 2025},
  addendum = {Highlighted as an iSeries Article in SLAM}
}
```
```
Fu, Taimeng and Su, Shaoshu and Lu, Yiren and Wang, Chen, "iSLAM: Imperative SLAM," IEEE Robotics and Automation Letters (RA-L), 2024.
```
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.
```
@inproceedings{zhan2023pypose,
  title = {{PyPose} v0.6: The Imperative Programming Interface for Robotics},
  author = {Zhan, Zitong and Li, Xiangfu and Li, Qihang and He, Haonan and Pandey, Abhinav and Xiao, Haitao and Xu, Yangmengfei and Chen, Xiangyu and Xu, Kuan and Cao, Kun and Zhao, Zhipeng and Wang, Zihan and Xu, Huan and Fang, Zihang and Chen, Yutian and Wang, Wentao and Fang, Xu and Du, Yi and Wu, Tianhao and Lin, Xiao and Qiu, Yuheng and Yang, Fan and Shi, Jingnan and Su, Shaoshu and Lu, Yiren and Fu, Taimeng and Dantu, Karthik and Wu, Jiajun and Xie, Lihua and Hutter, Marco and Carlone, Luca and Scherer, Sebastian and Huang, Daning and Hu, Yaoyu and Geng, Junyi and Wang, Chen},
  year = {2023},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop},
  url = {https://arxiv.org/abs/2309.13035},
  code = {https://github.com/pypose/pypose},
  video = {https://youtu.be/XDtUDIWuGng},
  website = {https://sairlab.org/pypose/}
}
```
```
Zhan, Zitong and Li, Xiangfu and Li, Qihang and He, Haonan and Pandey, Abhinav and Xiao, Haitao and Xu, Yangmengfei and Chen, Xiangyu and Xu, Kuan and Cao, Kun and Zhao, Zhipeng and Wang, Zihan and Xu, Huan and Fang, Zihang and Chen, Yutian and Wang, Wentao and Fang, Xu and Du, Yi and Wu, Tianhao and Lin, Xiao and Qiu, Yuheng and Yang, Fan and Shi, Jingnan and Su, Shaoshu and Lu, Yiren and Fu, Taimeng and Dantu, Karthik and Wu, Jiajun and Xie, Lihua and Hutter, Marco and Carlone, Luca and Scherer, Sebastian and Huang, Daning and Hu, Yaoyu and Geng, Junyi and Wang, Chen, "PyPose v0.6: The Imperative Programming Interface for Robotics," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop, 2023.
```
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), pp. 22024–22034, 2023.

Python Library Accumulated Over 160,000 Downloads in 2025
```
@inproceedings{wang2023pypose,
  title = {{PyPose}: A Library for Robot Learning with Physics-based Optimization},
  author = {Wang, Chen and Gao, Dasong and Xu, Kuan and Geng, Junyi and Hu, Yaoyu and Qiu, Yuheng and Li, Bowen and Yang, Fan and Moon, Brady and Pandey, Abhinav and Aryan and Xu, Jiahe and Wu, Tianhao and He, Haonan and Huang, Daning and Ren, Zhongqiang and Zhao, Shibo and Fu, Taimeng and Reddy, Pranay and Lin, Xiao and Wang, Wenshan and Shi, Jingnan and Talak, Rajat and Cao, Kun and Du, Yi and Wang, Han and Yu, Huai and Wang, Shanzhao and Chen, Siyu and Kashyap, Ananth and Bandaru, Rohan and Dantu, Karthik and Wu, Jiajun and Xie, Lihua and Carlone, Luca and Hutter, Marco and Scherer, Sebastian},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2023},
  pages = {22024--22034},
  url = {https://arxiv.org/abs/2209.15428},
  code = {https://github.com/pypose/pypose},
  video = {https://youtu.be/XDtUDIWuGng},
  website = {https://sairlab.org/pypose/},
  addendum = {Python Library Accumulated Over 160,000 Downloads in 2025}
}
```
```
Wang, Chen and Gao, Dasong and Xu, Kuan and Geng, Junyi and Hu, Yaoyu and Qiu, Yuheng and Li, Bowen and Yang, Fan and Moon, Brady and Pandey, Abhinav and Aryan and Xu, Jiahe and Wu, Tianhao and He, Haonan and Huang, Daning and Ren, Zhongqiang and Zhao, Shibo and Fu, Taimeng and Reddy, Pranay and Lin, Xiao and Wang, Wenshan and Shi, Jingnan and Talak, Rajat and Cao, Kun and Du, Yi and Wang, Han and Yu, Huai and Wang, Shanzhao and Chen, Siyu and Kashyap, Ananth and Bandaru, Rohan and Dantu, Karthik and Wu, Jiajun and Xie, Lihua and Carlone, Luca and Hutter, Marco and Scherer, Sebastian, "PyPose: A Library for Robot Learning with Physics-based Optimization," IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023.
```
Targetless extrinsic calibration of stereo, thermal, and laser sensors in structured environments.
Taimeng Fu, Huai Yu, Wen Yang, Yaoyu Hu, Sebastian Scherer.
IEEE Transactions on Instrumentation and Measurement, 2022.
```
@article{fu2022targetless,
  title = {Targetless extrinsic calibration of stereo, thermal, and laser sensors in structured environments},
  author = {Fu, Taimeng and Yu, Huai and Yang, Wen and Hu, Yaoyu and Scherer, Sebastian},
  journal = {IEEE Transactions on Instrumentation and Measurement},
  year = {2022},
  publisher = {IEEE},
  url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9877867},
  code = {https://github.com/FuTaimeng/auto_calibration},
  video = {https://www.youtube.com/watch?v=b1QAVY7hUu8&t=8s}
}
```
```
Fu, Taimeng and Yu, Huai and Yang, Wen and Hu, Yaoyu and Scherer, Sebastian, "Targetless extrinsic calibration of stereo, thermal, and laser sensors in structured environments," IEEE Transactions on Instrumentation and Measurement, 2022.
```
Dense Three-Dimensional Color Reconstruction with data Fusion and Image-Guided Depth Completion for Large-Scale Outdoor Scenes.
Zixiao Liu, Yuxi Hu, Taimeng Fu, Man-On Pun.
IEEE International Geoscience and Remote Sensing Symposium, pp. 3468–3471, 2022.
```
@inproceedings{liu2022dense,
  title = {Dense Three-Dimensional Color Reconstruction with data Fusion and Image-Guided Depth Completion for Large-Scale Outdoor Scenes},
  author = {Liu, Zixiao and Hu, Yuxi and Fu, Taimeng and Pun, Man-On},
  booktitle = {IEEE International Geoscience and Remote Sensing Symposium},
  pages = {3468--3471},
  year = {2022},
  organization = {IEEE},
  url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9883156}
}
```
```
Liu, Zixiao and Hu, Yuxi and Fu, Taimeng and Pun, Man-On, "Dense Three-Dimensional Color Reconstruction with data Fusion and Image-Guided Depth Completion for Large-Scale Outdoor Scenes," IEEE International Geoscience and Remote Sensing Symposium, 2022.
```
3D map reconstruction using a monocular camera for smart cities.
Yuxi Hu, Taimeng Fu, Guanchong Niu, Zixiao Liu, Man-On Pun.
The Journal of Supercomputing, vol. 78, no. 14, pp. 16512–16528, 2022.
```
@article{hu20223d,
  title = {3D map reconstruction using a monocular camera for smart cities},
  author = {Hu, Yuxi and Fu, Taimeng and Niu, Guanchong and Liu, Zixiao and Pun, Man-On},
  journal = {The Journal of Supercomputing},
  volume = {78},
  number = {14},
  pages = {16512--16528},
  year = {2022},
  publisher = {Springer},
  url = {https://link.springer.com/article/10.1007/s11227-022-04512-5}
}
```
```
Hu, Yuxi and Fu, Taimeng and Niu, Guanchong and Liu, Zixiao and Pun, Man-On, "3D map reconstruction using a monocular camera for smart cities," The Journal of Supercomputing, 2022.
```
Dense 3D Model Reconstruction for Digital City Using Computationally Efficient Multi-View Stereo Networks.
Yuxi Hu, Zixiao Liu, Taimeng Fu, Man-On Pun.
IEEE International Geoscience and Remote Sensing Symposium, pp. 959–962, 2022.
```
@inproceedings{hu2022dense,
  title = {Dense 3D Model Reconstruction for Digital City Using Computationally Efficient Multi-View Stereo Networks},
  author = {Hu, Yuxi and Liu, Zixiao and Fu, Taimeng and Pun, Man-On},
  booktitle = {IEEE International Geoscience and Remote Sensing Symposium},
  pages = {959--962},
  year = {2022},
  organization = {IEEE},
  url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9883484}
}
```
```
Hu, Yuxi and Liu, Zixiao and Fu, Taimeng and Pun, Man-On, "Dense 3D Model Reconstruction for Digital City Using Computationally Efficient Multi-View Stereo Networks," IEEE International Geoscience and Remote Sensing Symposium, 2022.
```