Publications

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All Computer Vision Robotics Machine Learning Construction Automation Deep Learning SLAM Point Cloud
NYC-Event-VPR: A Large-Scale High-Resolution Event-Based Visual Place Recognition Dataset in Dense Urban Environments
NYC-Event-VPR: A Large-Scale High-Resolution Event-Based Visual Place Recognition Dataset in Dense Urban Environments
IEEE International Conference on Robotics and Automation (ICRA) 2025

Taiyi Pan

,

Junyang He

,

Chao Chen

,

Yiming Li

,

Chen Feng
PDF Code Project
Self-Supervised Place Recognition by Refining Temporal and Featural Pseudo Labels from Panoramic Data
Self-Supervised Place Recognition by Refining Temporal and Featural Pseudo Labels from Panoramic Data
IEEE Robotics and Automation Letters (RA-L) 2025

Chao Chen

,

Zegang Cheng (Hooley)

,

Xinhao Liu

,

Yiming Li

,

Li Ding

,

Ruoyu Wang

,

Chen Feng
PDF Code Project
CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos
CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2024

Xinhao Liu

,

Jintong Li

,

Yicheng Jiang

,

Niranjan Sujay

,

Zhicheng Yang

,

Juexiao Zhang

,

John Abanes

,

Jing Zhang

,

Chen Feng
PDF Code Project
Multiview Scene Graph
Multiview Scene Graph
Neural Information Processing Systems (NeurIPS) 2024

Juexiao Zhang

,

Gao Zhu

,

Sihang Li

,

Xinhao Liu

,

Haorui Song

,

Xinran Tang

,

Chen Feng
PDF Code Project
Memorize What Matters: Emergent Scene Decomposition from Multitraverse
Memorize What Matters: Emergent Scene Decomposition from Multitraverse
Neural Information Processing Systems (NeurIPS), Spotlight 2024

Yiming Li

,

Zehong Wang

,

Yue Wang

,

Zhiding Yu

,

Zan Gojcic

,

Marco Pavone

,

Chen Feng

,

Jose M. Alvarez
PDF Code Project
VLM See, Robot Do: Human Demo Video to Robot Action Plan via Vision Language Model
VLM See, Robot Do: Human Demo Video to Robot Action Plan via Vision Language Model
arXiv (under review) 2024

Beichen Wang

,

Juexiao Zhang

,

Shuwen Dong

,

Irving Fang

,

Chen Feng
PDF Code Project
FusionSense: Bridging Common Sense, Vision, and Touch for Robust Sparse-View Reconstruction
FusionSense: Bridging Common Sense, Vision, and Touch for Robust Sparse-View Reconstruction
IEEE International Conference on Robotics and Automation (ICRA) 2024

Irving Fang

,

Kairui Shi

,

Xujin He

,

Siqi (Kevin) Tan

,

Yifan Wang

,

Hanwen Zhao

,

Hung-Jui Huang

,

Wenzhen Yuan

,

Chen Feng

,

Jing Zhang
PDF Code Project
Multiagent Multitraversal Multimodal Self-Driving: Open MARS Dataset
Multiagent Multitraversal Multimodal Self-Driving: Open MARS Dataset
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2024

Yiming Li

,

Zhiheng Li

,

Nuo Chen

,

Moonjun Gong

,

Zonglin Lyu

,

Zehong Wang

,

Peili Jiang

,

Chen Feng
PDF Code Project
EgoPAT3Dv2: Predicting 3D Action Target from 2D Egocentric Vision for Human-Robot Interaction
EgoPAT3Dv2: Predicting 3D Action Target from 2D Egocentric Vision for Human-Robot Interaction
IEEE International Conference on Robotics and Automation (ICRA) 2024

Irving Fang

,

Yuzhong Chen

,

Yifan Wang

,

Jianghan Zhang

,

Qiushi Zhang

,

Jiali Xu

,

Xibo He

,

Weibo Gao

,

Hao Su

,

Yiming Li

,

Chen Feng
PDF Code Project
Tell Me Where You Are: Multimodal LLMs Meet Place Recognition
Tell Me Where You Are: Multimodal LLMs Meet Place Recognition
arXiv 2024

Zonglin Lyu

,

Juexiao Zhang

,

Mingxuan Lu

,

Yiming Li

,

Chen Feng
PDF Code Project
NYC-Indoor-VPR: A Long-Term Indoor Visual Place Recognition Dataset with Semi-Automatic Annotation
NYC-Indoor-VPR: A Long-Term Indoor Visual Place Recognition Dataset with Semi-Automatic Annotation
IEEE International Conference on Robotics and Automation (ICRA) 2024

Diwei Sheng

,

Anbang Yang

,

John-Ross Rizzo

,

Chen Feng
PDF Code Project
LUWA Dataset: Learning Lithic Use-Wear Analysis on Microscopic Images
LUWA Dataset: Learning Lithic Use-Wear Analysis on Microscopic Images
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Highlight 2024

Jing Zhang

,

Irving Fang

,

Hao Wu

,

Akshat Kaushik

,

Alice Rodriguez

,

Hanwen Zhao

,

Juexiao Zhang

,

Zhuo Zheng

,

Radu Iovita

,

Chen Feng
PDF Code Project
ActFormer: Scalable Collaborative Perception via Active Queries
ActFormer: Scalable Collaborative Perception via Active Queries
IEEE International Conference on Robotics and Automation (ICRA) 2024

Suozhi Huang

,

Juexiao Zhang

,

Yiming Li

,

Chen Feng
PDF Code Project
LiDAR-based 4D Occupancy Completion and Forecasting
LiDAR-based 4D Occupancy Completion and Forecasting
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

Xinhao Liu

,

Moonjun Gong

,

Qi Fang

,

Haoyu Xie

,

Yiming Li

,

Hang Zhao

,

Chen Feng
PDF Code Project
SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving
SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

Yiming Li

,

Sihang Li

,

Xinhao Liu

,

Moonjun Gong

,

Kenan Li

,

Nuo Chen

,

Zijun Wang

,

Zhiheng Li

,

Tao Jiang

,

Fisher Yu

,

Yue Wang

,

Hang Zhao

,

Zhiding Yu

,

Chen Feng
PDF Code Project
Among Us: Adversarially Robust Collaborative Perception by Consensus
Among Us: Adversarially Robust Collaborative Perception by Consensus
IEEE/CVF International Conference on Computer Vision (ICCV) 2023

Yiming Li

,

Qi Fang

,

Jiamu Bai

,

Siheng Chen

,

Felix Juefei-Xu

,

Chen Feng
PDF Code Project
Collaborative Multi-Object Tracking with Conformal Uncertainty Propagation
Collaborative Multi-Object Tracking with Conformal Uncertainty Propagation
IEEE Robotics and Automation Letters (RAL) 2024

Sanbao Su

,

Songyang Han

,

Yiming Li

,

Zhili Zhang

,

Chen Feng

,

Caiwen Ding

,

Fei Miao
PDF Code Project
Metric-Free Exploration for Topological Mapping by Task and Motion Imitation in Feature Space
Metric-Free Exploration for Topological Mapping by Task and Motion Imitation in Feature Space
Robotics Science and Systems (RSS) 2023

Yuhang He

,

Irving Fang

,

Yiming Li

,

Rushi Bhavesh Shah

,

Chen Feng
PDF Code
Toward Zero-Shot Sim-to-Real Transfer Learning for Pneumatic Soft Robot 3D Proprioceptive Sensing
Toward Zero-Shot Sim-to-Real Transfer Learning for Pneumatic Soft Robot 3D Proprioceptive Sensing
IEEE International Conference on Robotics and Automation (ICRA) 2023

Uksang Yoo

,

Hanwen Zhao

,

Alvaro Altamirano

,

Wenzhen Yuan

,

Chen Feng
PDF Code
VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion
VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Highlight 2023

Yiming Li

,

Zhiding Yu

,

Chris Choy

,

Chaowei Xiao

,

Jose M. Alvarez

,

Sanja Fidler

,

Chen Feng

,

Anima Anandkumar
PDF Code Project
DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization
DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023

Chao Chen

,

Xinhao Liu

,

Yiming Li

,

Li Ding

,

Chen Feng
PDF Code Project
Learning Simultaneous Navigation and Construction in Grid Worlds
Learning Simultaneous Navigation and Construction in Grid Worlds
International Conference on Learning Representations (ICLR) 2023

Wenyu Han

,

Haoran Wu

,

Eisuke Hirota

,

Alexander Gao

,

Lerrel Pinto

,

Ludovic Righetti

,

Chen Feng
PDF Code Project
Uncertainty Quantification of Collaborative Detection for Self-Driving
Uncertainty Quantification of Collaborative Detection for Self-Driving
IEEE International Conference on Robotics and Automation (ICRA) 2023

Sanbao Su

,

Yiming Li

,

Sihong He

,

Songyang Han

,

Chen Feng

,

Caiwen Ding

,

Fei Miao
PDF Code Project Video
Multi-Robot Scene Completion: Towards Task-Agnostic Collaborative Perception
Multi-Robot Scene Completion: Towards Task-Agnostic Collaborative Perception
Conference on Robot Learning (CoRL) 2022

Yiming Li

,

Juexiao Zhang

,

Dekun Ma

,

Yue Wang

,

Chen Feng
PDF Code Project
Self-Supervised Visual Place Recognition by Mining Temporal and Feature Neighborhoods
Self-Supervised Visual Place Recognition by Mining Temporal and Feature Neighborhoods
arXiv 2022

Chao Chen

,

Xinhao Liu

,

Xuchu Xu

,

Yiming Li

,

Li Ding

,

Ruoyu Wang

,

Chen Feng
PDF Code Project
V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving
V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving
IEEE Robotics and Automation Letters (RA-L) 2022

Yiming Li

,

Dekun Ma

,

Ziyan An

,

Zixun Wang

,

Yiqi Zhong

,

Siheng Chen

,

Chen Feng
PDF Code Project
Self-supervised Spatial Reasoning on Multi-View Line Drawings
Self-supervised Spatial Reasoning on Multi-View Line Drawings
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022

Siyuan Xiang

,

Anbang Yang

,

Yanfei Xue

,

Yaoqing Yang

,

Chen Feng
PDF Code Project
Egocentric Prediction of Action Target in 3D
Egocentric Prediction of Action Target in 3D
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022

Yiming Li

,

Ziang Cao*

,

Andrew Liang

,

Benjamin Liang

,

Luoyao Chen

,

Hang Zhao

,

Chen Feng
PDF Code Project
A Deep Reinforcement Learning Environment for Particle Robot Navigation and Object Manipulation
A Deep Reinforcement Learning Environment for Particle Robot Navigation and Object Manipulation
IEEE International Conference on Robotics and Automation (ICRA) 2022

Jeremy Shen

,

Erdong Xiao

,

Yuchen Liu

,

Chen Feng
PDF Code Project
Deep Weakly Supervised Positioning for Indoor Mobile Robots
Deep Weakly Supervised Positioning for Indoor Mobile Robots
IEEE Robotics and Automation Letters 2021

Ruoyu Wang

,

Xuchu Xu

,

Li Ding

,

Yang Huang

,

Chen Feng
PDF Project
Learning Distilled Collaboration Graph for Multi-Agent Perception
Learning Distilled Collaboration Graph for Multi-Agent Perception
35th Conference on Neural Information Processing Systems (NeurIPS) 2021

Yiming Li

,

Shunli Ren

,

Pengxiang Wu

,

Siheng Chen

,

Chen Feng

,

Wenjun Zhang
PDF Code Project
NYU-VPR: Long-Term Visual Place Recognition Benchmark with View Direction and Data Anonymization Influences
NYU-VPR: Long-Term Visual Place Recognition Benchmark with View Direction and Data Anonymization Influences
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021

Diwei Sheng

,

Yuxiang Chai

,

Xinru Li

,

Chen Feng

,

Jianzhe Lin

,

Claudio Silva

,

John-Ross Rizzo
PDF Code Project
Mobile 3D Printing Robot Simulation with Viscoelastic Fluids
Mobile 3D Printing Robot Simulation with Viscoelastic Fluids
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021

Uljad Berdica

,

Yuewei Fu

,

Yuchen Liu

,

Emmanouil Angelidis

,

Chen Feng
PDF
Mobile projective augmented reality for collaborative robots in construction
Mobile projective augmented reality for collaborative robots in construction
Automation in Construction 2021

Siyuan Xiang

,

Ruoyu Wang

,

Chen Feng
PDF Video
Projector-Guided Non-Holonomic Mobile 3D Printing
Projector-Guided Non-Holonomic Mobile 3D Printing
IEEE International Conference on Robotics and Automation (ICRA) 2021

Xuchu Xu

,

Ziteng Wang

,

Chen Feng
PDF Code Project
Simultaneous Navigation and Construction Benchmarking Environments
Simultaneous Navigation and Construction Benchmarking Environments
arXiv 2021

Wenyu Han

,

Chen Feng

,

Haoran Wu

,

Alexander Gao

,

Armand Jordana

,

Dong Liu

,

Lerrel Pinto

,

Ludovic Righetti
PDF Code Project
Fooling LiDAR Perception via Adversarial Trajectory Perturbation
Fooling LiDAR Perception via Adversarial Trajectory Perturbation
IEEE International Conference on Computer Vision (ICCV), Oral 2021

Yiming Li

,

Congcong Wen

,

Felix Juefei-Xu

,

Chen Feng
PDF Code Project
3D Point Cloud Processing and Learning for Autonomous Driving: Impacting Map Creation, Localization, and Perception
3D Point Cloud Processing and Learning for Autonomous Driving: Impacting Map Creation, Localization, and Perception
IEEE Signal Processing Magazine 2020

Siheng Chen

,

Baoan Liu

,

Chen Feng

,

Carlos Vallespi-Gonzalez

,

Carl Wellington
PDF
A scene-adaptive descriptor for visual SLAM-based locating applications in built environments
A scene-adaptive descriptor for visual SLAM-based locating applications in built environments
Automation in Construction 2020

Lichao Xu

,

Chen Feng

,

Vineet R Kamat

,

Carol C Menassa
PDF
SPARE3D: A Dataset for SPAtial REasoning on Three-View Line Drawings
SPARE3D: A Dataset for SPAtial REasoning on Three-View Line Drawings
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2020

Wenyu Han

,

Siyuan Xiang

,

Chenhui Liu

,

Ruoyu Wang

,

Chen Feng
PDF Code Project
Regularizing Neural Networks via Minimizing Hyperspherical Energy
Regularizing Neural Networks via Minimizing Hyperspherical Energy
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2020

Rongmei Lin

,

Weiyang Liu

,

Zhen Liu

,

Chen Feng

,

Zhiding Yu

,

James M Rehg

,

Li Xiong

,

Le Song
PDF
Real-time Soft Body 3D Proprioception via Deep Vision-based Sensing
Real-time Soft Body 3D Proprioception via Deep Vision-based Sensing
IEEE Robotics and Automation Letters (RA-L) 2020

Ruoyu Wang

,

Shiheng Wang

,

Songyu Du

,

Erdong Xiao

,

Wenzhen Yuan

,

Chen Feng
PDF Code Project
LUVLi Face Alignment: Estimating Landmarks' Location, Uncertainty, and Visibility Likelihood
LUVLi Face Alignment: Estimating Landmarks' Location, Uncertainty, and Visibility Likelihood
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2020

Abhinav Kumar

,

Tim K Marks

,

Wenxuan Mou

,

Ye Wang

,

Michael Jones

,

Anoop Cherian

,

Toshiaki Koike-Akino

,

Xiaoming Liu

,

Chen Feng
PDF
Deep unsupervised learning of 3D point clouds via graph topology inference and filtering
Deep unsupervised learning of 3D point clouds via graph topology inference and filtering
IEEE Transactions on Image Processing 2019

Siheng Chen

,

Chaojing Duan

,

Yaoqing Yang

,

Duanshun Li

,

Chen Feng

,

Dong Tian
PDF
An assistive low-vision platform that augments spatial cognition through proprioceptive guidance: Point-to-Tell-and-Touch
An assistive low-vision platform that augments spatial cognition through proprioceptive guidance: Point-to-Tell-and-Touch
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019

Wenjun Gui

,

Bingyu Li

,

Shuaihang Yuan

,

John-Ross Rizzo

,

Lakshay Sharma

,

Chen Feng

,

Anthony Tzes

,

Yi Fang
PDF
An Occupancy Grid Mapping enhanced visual SLAM for real-time locating applications in indoor GPS-denied environments
An Occupancy Grid Mapping enhanced visual SLAM for real-time locating applications in indoor GPS-denied environments
Automation in Construction 2019

Lichao Xu

,

Chen Feng

,

Vineet R Kamat

,

Carol C Menassa
PDF
DeepMapping: Unsupervised Map Estimation From Multiple Point Clouds
DeepMapping: Unsupervised Map Estimation From Multiple Point Clouds
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Oral 2019

Li Ding

,

Chen Feng
PDF Cite Code Project
Primitive Fitting Using Deep Boundary Aware Geometric Segmentation
Primitive Fitting Using Deep Boundary Aware Geometric Segmentation
arXiv 2018

Duanshun Li

,

Chen Feng
PDF Project
VLASE: Vehicle Localization by Aggregating Semantic Edges
VLASE: Vehicle Localization by Aggregating Semantic Edges
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018

Xin Yu

,

Sagar Chaturvedi

,

Chen Feng

,

Yuichi Taguchi

,

Teng-Yok Lee

,

Clinton Fernandes

,

Srikumar Ramalingam
PDF Cite Code Video
Simultaneous Edge Alignment and Learning
Simultaneous Edge Alignment and Learning
European Conference on Computer Vision (ECCV) 2018

Zhiding Yu

,

Weiyang Liu

,

Yang Zou

,

Chen Feng

,

Srikumar Ramalingam

,

BVK Vijaya Kumar

,

Jan Kautz
PDF Cite Project Video
Mining Point Cloud Local Structures by Kernel Correlation and Graph Pooling
Mining Point Cloud Local Structures by Kernel Correlation and Graph Pooling
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2018

Yiru Shen

,

Chen Feng

,

Yaoqing Yang

,

Dong Tian
PDF Cite Code
FoldingNet: Point cloud auto-encoder via deep grid deformation
FoldingNet: Point cloud auto-encoder via deep grid deformation
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Spotlight 2018

Yaoqing Yang

,

Chen Feng

,

Yiru Shen

,

Dong Tian
PDF Cite Project Video
FasTFit: A fast T-spline fitting algorithm
FasTFit: A fast T-spline fitting algorithm
Computer-Aided Design 2017

Chen Feng

,

Yuichi Taguchi
PDF Cite Video
Fast Resampling of Three-Dimensional Point Clouds via Graphs
Fast Resampling of Three-Dimensional Point Clouds via Graphs
IEEE Transactions on Signal Processing 2017

Siheng Chen

,

Dong Tian

,

Chen Feng

,

Anthony Vetro

,

Jelena Kovačević
PDF Code
Direct Multichannel Tracking
Direct Multichannel Tracking
3DV 2017

Carlos Jaramillo

,

Yuichi Taguchi

,

Chen Feng
PDF Cite Video
CASENet: Deep Category-Aware Semantic Edge Detection
CASENet: Deep Category-Aware Semantic Edge Detection
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2017

Zhiding Yu

,

Chen Feng

,

Ming-Yu Liu

,

Srikumar Ramalingam
PDF Cite Code Video
Deep Active Learning for Civil Infrastructure Defect Detection and Classification
Deep Active Learning for Civil Infrastructure Defect Detection and Classification
Computing in Civil Engineering

Chen Feng

,

Ming-Yu Liu

,

Chieh-Chi Kao

,

Teng-Yok Lee
PDF Cite Slides
Camera marker networks for articulated machine pose estimation
Camera marker networks for articulated machine pose estimation
Automation in Construction 2016

Chen Feng

,

Vineet R Kamat

,

Hubo Cai
PDF Code
Fast plane extraction in organized point clouds using agglomerative hierarchical clustering
Fast plane extraction in organized point clouds using agglomerative hierarchical clustering
IEEE International Conference on Robotics and Automation (ICRA) 2014

Chen Feng

,

Yuichi Taguchi

,

Vineet R Kamat
PDF Cite Code Video
Point-plane SLAM for hand-held 3D sensors
Point-plane SLAM for hand-held 3D sensors
IEEE International Conference on Robotics and Automation (ICRA) 2013

Yuichi Taguchi

,

Yong-Dian Jian

,

Srikumar Ramalingam

,

Chen Feng
PDF Cite Video