Publications

DexOPE: 6D Object Pose Estimation in Dexterous ManipulationKe Wu, Zhiwei Yang, Xiangting Meng, Zicheng Zhang, Hui Zhang, Zijun Xu, Jieru Zhao, Wenchao Ding.Advances in Neural Information Processing Systems (NeurIPS), 2026.

CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned DenoisingHongjin Chen, Zijun Xu, Shihao Ma, Yi Zhao, Xilai Liu, Ke Ma, Wei Zhang, Chunyang Xie, Pengfei Li, Jieru Zhao, Wenchao Ding.Conference on Robot Learning (CoRL), 2026.

AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation.Qingda Hu, Ziheng Qiu, Jieru Zhao, Zhongxue Gan, Wenchao Ding.The European Conference on Computer Vision (ECCV), 2026.

Rhythm: Learning Interactive Whole-Body Control for Dual HumanoidsHongjin Chen, Wei Zhang, Pengfei Li, Shihao Ma, Ke Ma, Yujie Jin, Zijun Xu, Xiaohui Wang, Yupeng Zheng, Zining Wang, Jieru Zhao, Yilun Chen, Wenchao Ding.Robotics: Science and Systems (RSS), 2026.

Resolving State Ambiguity in Robot Manipulation via Adaptive Working Memory Recoding.Qingda Hu, Ziheng Qiu, Zijun Xu, Kaizhao Zhang, Xizhou Bu, Zuolei Sun, Bo Zhang, Jieru Zhao, Zhongxue Gan, Wenchao Ding.IEEE Robotics and Automation Letters (RA-L), 2026.

DiffuView: Multi-View Diffusion Pretraining for 3D-Aware Robotic Manipulation.Kaizhao Zhang, Tian Niu, Tianyu Liu, Chenen Guo, Zijun Xu, Qingda Hu, Wenchao Ding.Computer Vision and Pattern Recognition Conference (CVPR), 2026.

SparseSplat: Towards Applicable Feed-Forward 3D Gaussian Splatting with Pixel-Unaligned PredictionZicheng Zhang, Xiangting Meng, Ke Wu, Wenchao Ding.Computer Vision and Pattern Recognition Conference (CVPR), 2026.

OccLLaMA: A Unified Occupancy-Language-Action World Model for Enhancing Motion Planning via Multi-Task Learning.Julong Wei, Shanshuai Yuan, Pengfei Li, Xinyi Quan, Lei Tai, Jieru Zhao, Zhongxue Gan, Wenchao DingIEEE International Conference on Robotics and Automation (ICRA), 2026.

Unveiling the Surprising Efficacy of Navigation Understanding in End-to-End Autonomous Driving.Zhihua Hua, Junli Wang, Pengfei Li, Qihao Jin, Bo Zhang, Kehua Sheng, Yilun Chen, Zhongxue Gan, Wenchao DingIEEE International Conference on Robotics and Automation (ICRA), 2026.

CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots.Shihao Ma, Hongjin Chen, Zijun Xu, Yi Zhao, Ke Wu, Ruichen Yang, Leyao Zou, Zhongxue Gan, Wenchao Ding.IEEE International Conference on Robotics and Automation (ICRA), 2026.

Collaborative Learning of Local 3D Occupancy Prediction and Versatile Global Occupancy Mapping.Shanshuai Yuan, Julong Wei, Muer Tie, Xiangyun Ren, Zhongxue Gan, Wenchao Ding.IEEE International Conference on Robotics and Automation (ICRA), 2026.

Flash-Mono: Feed-Forward Accelerated Gaussian Splatting Monocular SLAM.Zicheng Zhang, Ke Wu, Xiangting Meng, Keyu Liu, Jieru Zhao, Wenchao Ding.The International Conference on Learning Representations (ICLR), 2026.

Learning A Unified Risk Map for Autonomous Driving in Partially Observable Environments.Jie Jia, Yaofeng Su, Zeyu Bao, Yun Hong, Bingzhao Gao, Zhongxue Gan, Wenchao Ding.IEEE Robotics and Automation Letters (RA-L), 2026.

VINGS-Mono: Visual-Inertial Gaussian Splatting Monocular SLAM in Large ScenesKe Wu, Zicheng Zhang, Muer Tie, Ziqing Ai, Zhongxue Gan, Wenchao Ding.IEEE Transactions on Robotics (TRO), 2025.

DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera ScenariosXiangting Meng, Jiaqi Yang, Mingshu Chen, Chenxin Yan, Yujiao Shi, Wenchao Ding, Laurent Kneip.IEEE Robotics and Automation Letters (RA-L), 2025.

Drive in Corridors: Enhancing the Safety of End-to-end Autonomous Driving via Corridor Learning and Planning.Zhiwei Zhang, Ruichen Yang, Ke Wu, Zijun Xu, Jingchu Liu, Lisen Mu, Zhongxue Gan, Wenchao Ding.IEEE Robotics and Automation Letters (RA-L), 2025.

Topology-Driven Trajectory Optimization for Modelling Controllable Interactions Within Multi-Vehicle ScenarioChangjia Ma, Yi Zhao, Zhongxue Gan, Bingzhao Gao, Wenchao Ding.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.

HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting.Zijun Xu, Rui Jin, Ke Wu, Yi Zhao, Zhiwei Zhang, Jieru Zhao, Zhongxue Gan and Wenchao Ding.IEEE International Conference on Robotics and Automation (ICRA), 2025.

Learning Occlusion-aware Decision-making from Agent Interaction via Active Perception.Jie Jia, Yiming Shu, Zhongxue Gan, Wenchao Ding.IEEE Intelligent Vehicles Symposium (IV), 2025.

HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes.Ke Wu, Kaizhao Zhang, Zhiwei Zhang, Muer Tie, Shanshuai Yuan, Jieru Zhao, Zhongxue Gan, Wenchao Ding.IEEE Robotics and Automation Letters (RA-L), 2024.

DeepPointMap2: Accurate and Robust LiDAR-Visual SLAM with Neural DescriptorsXiaze Zhang, Ziheng Ding, Qi Jing, Ying Cheng, Wenchao Ding, Rui Feng.ACM Multimedia 2024.

O2V-Mapping: Online Open-Vocabulary Mapping with Neural Implicit Representation.Muer Tie, Julong Wei, Zhengjun Wang, Ke Wu, Shanshuai Yuan, Kaizhao Zhang, Jie Jia, Jieru Zhao, Zhongxue Gan, Wenchao Ding.The European Conference on Computer Vision (ECCV), 2024.

OpenAnnotate3D: Open-Vocabulary Auto-Labeling System for Multi-modal 3D DataYijie Zhou, Likun Cai, Xianhui Cheng, Zhongxue Gan, Xiangyang Xue, Wenchao Ding.2024 IEEE International Conference on Robotics and Automation (ICRA), 12 May–17 May 2024.

DeepPointMap: Advancing LiDAR SLAM with Unified Neural DescriptorsXiaze Zhang, Ziheng Ding, Qi Jing, Yuejie Zhang, Wenchao Ding, Rui Feng.Proceedings of the AAAI Conference on Artificial Intelligence. Vol. 38. No. 9. 2024.

Swift-Mapping: Online Neural Implicit Dense Mapping in Urban ScenesKe Wu, Kaizhao Zhang, Mingzhe Gao, Jieru Zhao, Zhongxue Gan, Wenchao Ding.Proceedings of the AAAI Conference on Artificial Intelligence. Vol. 38. No. 6. 2024.

A Smart Interactive Camera Robot Based on Large Language Models[Best Paper Finalist] Zeyu Bao, Guo-Niu Zhu, Wenchao Ding, Yuxiang Guan, Weibang Bai, Zhongxue Gan.2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, 2023, pp. 1-6, doi: 10.1109/ROBIO58561.2023.10354952.

Traffic Flow-Based Crowdsourced Mapping in Complex Urban ScenarioTong Qin, Haihui Huang, Ziqiang Wang, Tongqing Chen, Wenchao Ding*.IEEE Robotics and Automation Letters, 2023.

FlowMap: Path Generation for Automated Vehicles in Open Space Using Traffic FlowWenchao Ding, Jieru Zhao*, Yubin Chu, Haihui Huang, Tong Qin, Chunjing Xu, Yuxiang Guan, Zhongxue Gan.2023 IEEE International Conference on Robotics and Automation (ICRA), 29 May-2 June 2023, 2023: 1616-1622. 10.1109/ICRA48891.2023.10161326.

Learning to predict vehicle trajectories with model-based planningHaoran Song, Di Luan, Wenchao Ding, Michael Yu Wang, Qifeng Chen.Conference on Robot Learning. PMLR, 2022: 1035-1045.

Epsilon: An efficient planning system for automated vehicles in highly interactive environmentsWenchao Ding, Lu Zhang, Jing Chen, Shaojie Shen.IEEE Transactions on Robotics, 2021, 38(2): 1118-1138.

Motion Planning and Decision-Making for Autonomous Systems: From Quadrotors to Autonomous VehiclesWenchao Ding, Shaojie Shen.Hong Kong University of Science and Technology (Hong Kong), 2021.

Autonomous aerial robot using dual‐fisheye camerasWenliang Gao, Kaixuan Wang, Wenchao Ding, Fei Gao, Tong Qin, Shaojie Shen.Journal of Field Robotics, 2020, 37(4): 497-514.

Efficient uncertainty-aware decision-making for automated driving using guided branchingLu Zhang, Wenchao Ding, Jing Chen, Shaojie Shen.2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020: 3291-3297.

An efficient b-spline-based kinodynamic replanning framework for quadrotorsWenchao Ding, Wenliang Gao, Kaixuan Wang, Shaojie Shen.IEEE Transactions on Robotics, 2019, 35(6): 1287-1306.

Safe trajectory generation for complex urban environments using spatio-temporal semantic corridorWenchao Ding, Lu Zhang, Jing Chen, Shaojie Shen.IEEE Robotics and Automation Letters, 2019, 4(3): 2997-3004.

Predicting vehicle behaviors over an extended horizon using behavior interaction networkWenchao Ding, Jing Chen, Shaojie Shen.2019 international conference on robotics and automation (ICRA). IEEE, 2019: 8634-8640.

Online vehicle trajectory prediction using policy anticipation network and optimization-based context reasoningWenchao Ding, Shaojie Shen.2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019: 9610-9616.

Mixed-timescale online PHY caching for dual-mode MIMO cooperative networksAn Liu, Vincent Lau, Wenchao Ding, Edmund Yeh.IEEE Transactions on Wireless Communications, 2019, 18(5): 2722-2736.