About Me

I am currently with LYNSENSE, working on embodied agents, including end-to-end manipulation policies for industrial applications and an embodied harness for performance optimization.

I received my Ph.D. degree in March 2026 from 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 from the same school at USTC.

My research interests include:

• High-precision, high-throughput end-to-end policies
• Embodied agents
• 3D reconstruction
• Spatial intelligence

Overview

News

• 2026.07.11: Our paper Drift-Based Policy Optimization is accepted by ACMMM 2026!
• 2026.06.17: Our paper DynaLite-GS is accepted by IROS 2026!
• 2026.05.06: I joined LYNSENSE, working on embodied agents, including end-to-end manipulation policies for industrial applications and an embodied harness for performance optimization.
• 2025.12.02: Our paper PocketMap is accepted by IMWUT/UbiComp 2025!
• 2025.08.23: Our paper GS-Share is accepted by CGF 2025!
• 2025.07.05: Our paper CalibWorkflow is accepted by ACMMM 2025!
• 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

arXiv 2026

• DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models
• Wenhao Yu, Yu’ang Xie, Yifan Duan, Jie Peng, Guanting Ye, Ka-Veng Yuen, Yanyong Zhang, Jianmin Ji

• arXiv preprint arXiv:2606.14882, 2026

  link arxiv BibTeX

ACMMM 2026

• Drift-Based Policy Optimization: Native One-Step Policy Learning for Online Robot Control
• Yuxuan Gao, Yedong Shen, Shiqi Zhang, Wenhao Yu, Yifan Duan, Jia Pan, Jiajia Wu, Jiajun Deng, Yanyong Zhang

• ACM MULTIMEDIA 2026 (ACMMM)

  link BibTeX

IROS 2026

• DynaLite-GS: Lightweight Dynamic 3DGS-SLAM in Resource-Constrained Scenarios via Decoupled Masking and Stochastic Backtracking
• Houzhi Zhou, Li Zhang, Yifan Duan, Yu-an Liu, Yujie Chen, Yingjie Wang, Conghao Huang, Yuqi Fan

• 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

  Paper BibTeX

IMWUT/UbiComp 2025

• PocketMap: An Interaction-centric 3D Map Serving System for Spatial Understanding on Mobile Devices
• Xinran Zhang, Wuyang Zhang, Hanqi Zhu, Yifan Duan, Jianmin Ji, Yanyong Zhang

• Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies

  link BibTeX

CGF 2025

• GS-Share: Enabling High-fidelity Map Sharing with Incremental Gaussian Splatting
• Xinran Zhang, Hanqi Zhu, Yifan Duan, Yanyong Zhang

• Computer Graphics Forum

  link arxiv BibTeX

ACMMM 2025

• CalibWorkflow: A General MLLM-Guided Workflow for Centimeter-Level Cross-Sensor Calibration
• Xingchen Li, Wuyang Zhang, Guoliang You, Xiaomeng Chu, Wenhao Yu, Yifan Duan, Yuxuan Xiao, Yanyong Zhang
• ACM MULTIMEDIA 2025 (ACMMM)

RSS 2025

• 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 BibTeX Paper

CVPR 2025

• 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 2025

• 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 2025

• 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 2025

• 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

arXiv 2024

• Rotation Initialization and Stepwise Refinement for Universal LiDAR Calibration
• Yifan Duan, Xinran Zhang, Guoliang You, Yilong Wu, Xingchen Li, Yao Li, Xiaomeng Chu, Jie Peng, Yu Zhang, Jianmin Ji, Yanyong Zhang

• arXiv preprint arXiv:2405.05589, 2024

  link arxiv BibTeX

RA-L

• 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

• 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 2024

• 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

• 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

• 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

• 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

• 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

• 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

• 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

• 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 2023

• 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

• 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

• $P^3O$: 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

• 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

• 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