Xiao Lin is an intern with SAIR Lab at University at Buffalo.

Education

Bachelor of Science in Computer Science
- Georgia Institute of Technology, Atlanta, GA
- Aug. 2021 - May 2025

Experience

Research Assistant in Robotics
- Spatial AI & Robotics Lab, University at Buffalo (UB), NY
- Jan. 2024 - Nov. 2024
Research Assistant in Robotics
- Air Lab, Carnegie Mellon University (CMU), PA
- Jun. 2022 - Jul. 2022
Engineering Summer Robotics Camp
- University of Pennsylvania (UPenn), PA
- Jul. 2019 - Aug. 2019

Awards

IROS 2025 Best Workshop Paper Award

Emails

Work Email: xiaol@sairlab.org

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.

Best Workshop Paper Award; Enabling humanoid walking via self-supervised footstep planning
```
@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},
  cover = {/img/posts/2024-09-30-iwalker/thumbnail.gif},
  addendum = {Best Workshop Paper Award; Enabling humanoid walking via self-supervised footstep planning}
}
```
```
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 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.
```
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/},
  cover = {/img/posts/2024-12-01-anynav/AnyNav.mp4},
  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.
```
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.
```
AirLine: Efficient Learnable Line Detection with Local Edge Voting.
Xiao Lin, Chen Wang.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3270–3277, 2023.
```
@inproceedings{lin2023airline,
  title = {{AirLine}: Efficient Learnable Line Detection with Local Edge Voting},
  author = {Lin, Xiao and Wang, Chen},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2023},
  pages = {3270--3277},
  url = {https://arxiv.org/abs/2303.16500},
  video = {https://youtu.be/EKDx3Z9qYUQ},
  code = {https://github.com/sair-lab/AirLine},
  website = {https://sairlab.org/airline/},
  cover = {/img/posts/2023-03-31-airline/pipeline.gif}
}
```
```
Lin, Xiao and Wang, Chen, "AirLine: Efficient Learnable Line Detection with Local Edge Voting," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 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/},
  cover = {/img/posts/pypose/robots.jpg},
  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.
```