Xiangyu Chen is currently a PhD student at Nanyang Technological University. He is a long-term collaborator of the SAIR Lab. His research interests cover path planning.

Experience

Ph.D. in Mechanical Engineering
- Nanyang Technological University, Singapore
- Jan. 2025 - Present
Master of Science in Electrical Engineering
- Shandong University, Jinan, Shandong, China
- Sep. 2019 - Mar. 2023
Bachelor of Science in Electrical Engineering
- University of Jinan, Jinan, Shandong, China
- Sep. 2016 - June 2020

Awards

National Scholarship
- During both undergrad and graduate study

Other Information

Work Email: cxy980212@gmail.com
School Email: xiangyuc@sairlab.org

Publications

iA*: Imperative Learning-based A* Search for Path Planning.
Xiangyu Chen, Fan Yang, Chen Wang.
IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 12, pp. 12987–12994, 2025.

Reducing 66% search area and 54% runtime via imperative learning
```
@article{chen2025iastar,
  title = {{iA*}: Imperative Learning-based A* Search for Path Planning},
  author = {Chen, Xiangyu and Yang, Fan and Wang, Chen},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2025},
  volume = {10},
  number = {12},
  pages = {12987-12994},
  url = {https://arxiv.org/abs/2403.15870},
  code = {https://github.com/sair-lab/iAstar},
  website = {https://sairlab.org/iastar/},
  cover = {/img/posts/2024-10-28-iAstar/cover.gif},
  addendum = {Reducing 66\% search area and 54\% runtime via imperative learning}
}
```
```
Chen, Xiangyu and Yang, Fan and Wang, Chen, "iA*: Imperative Learning-based A* Search for Path Planning," IEEE Robotics and Automation Letters (RA-L), 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 robot autonomy via neuro-symbolic learning
```
@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},
  cover = {/img/posts/2024-07-02-iSeries/il-cover.jpg},
  addendum = {Unifying robot autonomy via neuro-symbolic learning}
}
```
```
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.
```
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/},
  cover = {/img/pubs/pypose-v0.6.jpg}
}
```
```
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.
```
Chase and track: Toward safe and smooth trajectory planning for robotic navigation in dynamic environments.
Chaoqun Wang, Xiangyu Chen, Chenming Li, Rui Song, Yibin Li, Max Q-H Meng.
IEEE Transactions on Industrial Electronics, vol. 70, no. 1, pp. 604–613, 2022.
```
@article{wang2022chase,
  title = {Chase and track: Toward safe and smooth trajectory planning for robotic navigation in dynamic environments},
  author = {Wang, Chaoqun and Chen, Xiangyu and Li, Chenming and Song, Rui and Li, Yibin and Meng, Max Q-H},
  journal = {IEEE Transactions on Industrial Electronics},
  volume = {70},
  number = {1},
  pages = {604--613},
  year = {2022},
  publisher = {IEEE},
  url = {https://ieeexplore.ieee.org/abstract/document/9709214},
  video = {https://www.youtube.com/watch?v=MjzMKkq2KZ4}
}
```
```
Wang, Chaoqun and Chen, Xiangyu and Li, Chenming and Song, Rui and Li, Yibin and Meng, Max Q-H, "Chase and track: Toward safe and smooth trajectory planning for robotic navigation in dynamic environments," IEEE Transactions on Industrial Electronics, 2022.
```
LoPF: An Online LiDAR-Only Person-Following Framework.
Xiangyu Chen, Jinhao Liu, Jin Wu, Chaoqun Wang, Rui Song.
IEEE Transactions on Instrumentation and Measurement, vol. 71, pp. 1–13, 2022.
```
@article{chen2022lopf,
  title = {LoPF: An Online LiDAR-Only Person-Following Framework},
  author = {Chen, Xiangyu and Liu, Jinhao and Wu, Jin and Wang, Chaoqun and Song, Rui},
  journal = {IEEE Transactions on Instrumentation and Measurement},
  volume = {71},
  pages = {1--13},
  year = {2022},
  publisher = {IEEE},
  url = {https://ieeexplore.ieee.org/abstract/document/9912461},
  video = {https://www.youtube.com/watch?v=eocqMLzRR1s}
}
```
```
Chen, Xiangyu and Liu, Jinhao and Wu, Jin and Wang, Chaoqun and Song, Rui, "LoPF: An Online LiDAR-Only Person-Following Framework," IEEE Transactions on Instrumentation and Measurement, 2022.
```
Low-drift LiDAR-only Odometry and Mapping for UGVs in Environments with Non-level Roads.
Xiangyu Chen, Yinchuan Wang, Chaoqun Wang, Rui Song, Yibin Li.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 13174–13180, 2022.
```
@inproceedings{chen2022low,
  title = {Low-drift LiDAR-only Odometry and Mapping for UGVs in Environments with Non-level Roads},
  author = {Chen, Xiangyu and Wang, Yinchuan and Wang, Chaoqun and Song, Rui and Li, Yibin},
  booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {13174--13180},
  year = {2022},
  organization = {IEEE},
  url = {https://ieeexplore.ieee.org/abstract/document/9982264},
  video = {https://www.youtube.com/watch?v=VWPcX7ydmU4}
}
```
```
Chen, Xiangyu and Wang, Yinchuan and Wang, Chaoqun and Song, Rui and Li, Yibin, "Low-drift LiDAR-only Odometry and Mapping for UGVs in Environments with Non-level Roads," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
```