Yiren Lu is currently a PhD student at the Department of Computer and Data Sciences, Case Western Reserve University (CWRU). He was a master student at the SAIR Lab, Department of Computer Science and Engineering (CSE), University at Buffalo (UB). His research interests cover 3D vision and SLAM.

Experience

PhD student in Computer and Data Sciences
- Case Western Reserve University (CWRU), USA
- Jan 2024 - Present
Master of Science in Computer Science and Engineering
- University at Buffalo (UB), USA
- Aug 2022 - Dec 2023
Computer Vision Engineer
- Tencent - Shenzhen, China
- 2021 - 2022
Bachelor of Engineering in Computer Science
- ShanghaiTech University - Shanghai, China
- 2017 - 2021

Other Information

Work Email: luyr0615@gmail.com
School Email: yirenlu@buffalo.edu

Publications

GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning.
Yiren Lu, Yi Du, Disheng Liu, Yunlai Zhou, Chen Wang, Yu Yin.
arXiv preprint arXiv:2603.19137, 2026.
```
@article{lu2026gsmem,
  title = {{GSMem}: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning},
  author = {Lu, Yiren and Du, Yi and Liu, Disheng and Zhou, Yunlai and Wang, Chen and Yin, Yu},
  journal = {arXiv preprint arXiv:2603.19137},
  year = {2026},
  url = {https://arxiv.org/abs/2603.19137},
  website = {https://yiren-lu.com/project_pages/gsmem/},
  cover = {/img/pubs/GSMem.mp4}
}
```
```
Lu, Yiren and Du, Yi and Liu, Disheng and Zhou, Yunlai and Wang, Chen and Yin, Yu, "GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning," arXiv preprint arXiv:2603.19137, 2026.
```
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 First to unify front-end odometry and back-end pose graph via reciprocal learning
```
@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},
  cover = {/img/posts/2023-08-01-iSLAM/iSLAM.mp4},
  addinfo = {Presented at ICRA 2025},
  addendum = {First to unify front-end odometry and back-end pose graph via reciprocal learning}
}
```
```
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/},
  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.
```
End to End Face Reconstruction via Differentiable PnP.
Yiren Lu, Huawei Wei.
European Conference on Computer Vision, pp. 398–406, 2022.
```
@inproceedings{lu2022end,
  title = {End to End Face Reconstruction via Differentiable PnP},
  author = {Lu, Yiren and Wei, Huawei},
  booktitle = {European Conference on Computer Vision},
  pages = {398--406},
  year = {2022},
  organization = {Springer}
}
```
```
Lu, Yiren and Wei, Huawei, "End to End Face Reconstruction via Differentiable PnP," European Conference on Computer Vision, 2022.
```
Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs.
Xiangyang Zhi, Jiawei Hou, Yiren Lu, Laurent Kneip, Sören Schwertfeger.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2446–2453, 2022.
```
@inproceedings{9982031,
  author = {Zhi, Xiangyang and Hou, Jiawei and Lu, Yiren and Kneip, Laurent and Schwertfeger, Sören},
  booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title = {Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs},
  year = {2022},
  pages = {2446-2453},
  doi = {10.1109/IROS47612.2022.9982031}
}
```
```
Zhi, Xiangyang and Hou, Jiawei and Lu, Yiren and Kneip, Laurent and Schwertfeger, Sören, "Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
```
Improving CNN-based Planar Object Detection with Geometric Prior Knowledge.
Jianxiong Cai, Jiawei Hou, Yiren Lu, Hongyu Chen, Laurent Kneip, Sören Schwertfeger.
2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 387–393, 2020.
```
@inproceedings{9292601,
  author = {Cai, Jianxiong and Hou, Jiawei and Lu, Yiren and Chen, Hongyu and Kneip, Laurent and Schwertfeger, Sören},
  booktitle = {2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
  title = {Improving CNN-based Planar Object Detection with Geometric Prior Knowledge},
  year = {2020},
  pages = {387-393},
  doi = {10.1109/SSRR50563.2020.9292601}
}
```
```
Cai, Jianxiong and Hou, Jiawei and Lu, Yiren and Chen, Hongyu and Kneip, Laurent and Schwertfeger, Sören, "Improving CNN-based Planar Object Detection with Geometric Prior Knowledge," 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2020.
```