Yifan Duan

Yifan Duan

University of Science and Technology of China

About Me

I am currently pursuing a PhD at the School of Computer Science and Technology, University of Science and Technology of China (USTC) under the supervision of Prof. Yanyong Zhang. Prior to that, I received my B.E. degree in 2020 also from School of Computer Science and Technology at USTC.

My research interest includes:

  • LiDAR-based SLAM
  • Calibration
  • 3D GS and NeRF
  • Manipulation

Overview

News

  • 2025.04.11: Our paper STDArm is accepted by RSS 2025!
  • 2025.02.27: Our paper RaCFormer is accepted by CVPR 2025!
  • 2025.01.28: Three paper CELLmap, MT-PCR and OG-Gaussian are accepted by ICRA 2025！
  • 2024.12.02: Our paper PHP is accepted by RA-L！
  • 2024.08.14: Our paper EdgeCalib is accepted by RA-L！
  • 2024.07.16: Our paper RayFormer is accepted by ACMMM 2024！
  • 2024.06.30: Three papers CRPlace, MM-Gaussian and LDP are accepted by IROS 2024！
  • 2024.03.25: Our paper FARFusion is accepted by RA-L！
  • 2024.03.05: Our paper mmPlace is accepted by RA-L！
  • 2024.01.29: Our paper OCC-VO is accepted by ICRA 2024！
  • 2023.12.02: Our paper Map++ is accepted by MobiCom ‘24！
  • 2023.10.02: Our paper ScanTrimmer is accepted by ROBIO 2023！
  • 2023.07.18: Our dataset paper USTC FLICAR is accepted by IJRR！
  • 2023.03.13: Our paper $P^3O$ is accepted by ICME 2023！
  • 2022.06.30: My first paper PFilter is accepted by IROS 2022！
  • 2022.06.30: Our paper FastBKRRT is accepted by ICRA 2021！

Publications

RSS
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  • STDArm: Transfer Visuomotor Policy From Static Data Training to Dynamic Robot Manipulation
  • Yifan Duan*, Heng Li*, Yilong Wu*, Wenhao Yu, Xinran zhang, Yedong Shen, Wuyang Zhang, Jianmin Ji, Yanyong Zhang

  • Robotics: Science and Systems 2025 (RSS)

    page

CVPR
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  • RaCFormer: Towards High-Quality 3D Object Detection via Query-based Radar-Camera Fusion
  • Xiaomeng Chu, Jiajun Deng, Guoliang You, Yifan Duan, Houqiang Li, Yanyong Zhang

  • The IEEE/CVF Conference on Computer Vision and Pattern Recognition 2025 (CVPR)

    arxiv BibTeX

ICRA
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  • CELLmap: Enhancing LiDAR SLAM through Elastic and Lightweight Spherical Map Representation
  • Yifan Duan, Xinran Zhang, Yao Li, Guoliang You, Xiaomeng Chu, Jianmin Ji, Yanyong Zhang

  • 2025 IEEE International Conference on Robotics and Automation (ICRA)

    arxiv BibTeX Code

ICRA
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  • MT-PCR: Leveraging Modality Transformation for Large-Scale Point Cloud Registration with Limited Overlap
  • Yilong Wu, Yifan Duan, Yuxi Chen, Xinran Zhang, Jianmin Ji, Yanyong Zhang

  • 2025 IEEE International Conference on Robotics and Automation (ICRA)

    arxiv

ICRA
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  • OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving
  • Yedong Shen, Xinran Zhang, Yifan Duan, Shiqi zhang, Heng Li, Jianmin Ji, Yanyong Zhang

  • 2025 IEEE International Conference on Robotics and Automation (ICRA)

    arxiv BibTeX

RA-L
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  • Perception Helps Planning: Facilitating Multi-Stage Lane-Level Integration via Double-Edge Structures
  • Guoliang You, Xiaomeng Chu, Yifan Duan, Wenyu Zhang, Xingchen Li, Sha Zhang, Yao Li,Jianmin Ji, Yanyong Zhang

  • IEEE Robotics and Automation Letters (RA-L)

    arxiv BibTeX

RA-L
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  • EdgeCalib: Multi-Frame Weighted Edge Features for Automatic Targetless LiDAR-Camera Calibration
  • Xingchen Li, Yifan Duan, Beibei Wang, Haojie Ren, Guoliang You, Yu Sheng, Jianmin Ji, Yanyong Zhang

  • IEEE Robotics and Automation Letters (RA-L)

    arxiv BibTeX

ACMMM
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  • RayFormer: Improving Query-Based Multi-Camera 3D Object Detection via Ray-Centric Strategies
  • Xiaomeng Chu, Jiajun Deng, Guoliang You, Yifan Duan, Yao Li, Yanyong Zhang

  • ACM MULTIMEDIA 2024 (ACMMM)

    arxiv BibTeX

IROS 2024
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  • CRPlace: Camera-Radar Fusion with BEV Representation for Place Recognition
  • Shaowei Fu, Yifan Duan, Yao Li, Chengzhen Meng, Yingjie Wang, Jianmin Ji, Yanyong Zhang

  • 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

    arxiv BibTeX

IROS 2024
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  • MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes
  • Chenyang Wu, Yifan Duan, Xinran Zhang, Yu Sheng, Jianmin Ji, Yanyong Zhang

  • 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

    arxiv BibTeX

IROS 2024
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  • LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance
  • Wenhao Yu, Jie Peng, huanyu yang, Junrui Zhang, Yifan Duan, Jianmin Ji, Yanyong Zhang

  • 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

    arxiv BibTeX

RA-L
sym
  • FARFusion: A Practical Roadside Radar-Camera Fusion System for Far-Range Perception
  • Yao Li, Yingjie Wang, Chengzhen Meng, Yifan Duan, Jianmin Ji, Yu Zhang, Yanyong Zhang

  • IEEE Robotics and Automation Letters (RA-L)

    link BibTeX

RA-L
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  • mmPlace: Robust Place Recognition With Intermediate Frequency Signal of Low-Cost Single-Chip Millimeter Wave Radar
  • Chengzhen Meng, Yifan Duan, Chenming He, Dequan Wang, Xiaoran Fan, Yanyong Zhang

  • IEEE Robotics and Automation Letters (RA-L)

    arxiv code BibTeX

ICRA 2024
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  • OCC-VO: Dense Mapping via 3D Occupancy-Based Visual Odometry for Autonomous Driving
  • Heng Li, Yifan Duan, Xinran Zhang, Haiyi Liu, Jianmin Ji, Yanyong Zhang

  • 2024 IEEE International Conference on Robotics and Automation (ICRA)

    arxiv code BibTeX

MobiCom '24
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  • Map++: Towards User-Participatory Visual SLAM Systems with Efficient Map Expansion and Sharing
  • Xinran Zhang, Hanqi Zhu, Yifan Duan, Wuyang Zhang, Longfei Shangguan, Yu Zhang, Jianmin Ji, Yanyong Zhang

  • ACM MobiCom ‘24: Proceedings of the 30th Annual International Conference on Mobile Computing and Networking

    link BibTeX

ROBIO 2022
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  • ScanTrimmer: an Online Dynamic Objects Removal Framework in Laser Scan for Robust Localization
  • Jing Wang, Yifan Duan, Jianmin Ji

  • 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

    link BibTeX

IJRR
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  • USTC FLICAR: A sensors fusion dataset of LiDAR-inertial-camera for heavy-duty autonomous aerial work robots
  • Ziming Wang, Yujiang Liu, Yifan Duan, Xingchen Li, Xinran Zhang, Jianmin Ji, Erbao Dong, Yanyong Zhang

  • The International Journal of Robotics Research (IJRR)

    arxiv Page BibTeX

ICME 2023
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  • $P^3O$: Transferring Visual Representations for Reinforcement Learning via Prompting
  • Guoliang You, Xiaomeng Chu, Yifan Duan, Jie Peng, Jianmin Ji, Yu Zhang, Yanyong Zhang

  • 2023 IEEE International Conference on Multimedia and Expo (ICME)

    arxiv BibTeX

IROS 2022
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  • PFilter: Building persistent maps through feature filtering for fast and accurate LiDAR-based slam
  • Yifan Duan, Jie Peng, Yu Zhang, Jianmin Ji, Yanyong Zhang

  • 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

    arxiv code Video BibTeX

ICRA 2021
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  • Towards an online RRT-based path planning algorithm for Ackermann-steering vehicles
  • Jie Peng, Yu’An Chen, Yifan Duan, Yu Zhang, Jianmin Ji, Yanyong Zhang

  • 2021 IEEE International Conference on Robotics and Automation (ICRA)

    link code BibTeX

USTC