Sun, 07/11/2021

I am happy to be selected as one of the 30 Pioneers at Robotics: Science and Systems (RSS) 2021, for my research on "certifiable outlier-robust machine perception".

Check out the full list of Pioneers here:


Thu, 06/03/2021

The paper "Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection" has won an IEEE Robotics and Automation Letters Best Paper Award Honorable Mention. Joint work with Pasquale Antonante, Vasileios Tzoumas, and Luca Carlone.


Thu, 05/20/2021

I gave an invited talk at Imperial College London MatchLab on "Self-supervised Geometric Perception".

Slides are available here.

Wed, 05/12/2021

Our paper "Optimal Pose and Shape Estimation for Category-level 3D Object Perception" has been accepted for publication at Robotics: Science and Systems, 2021. Joint work with Jingnan Shi and Luca Carlone. Check out the preprint here:


Wed, 05/05/2021

I gave a guest lecture "Certifiable Outlier-Robust Machine Perception" at the undergraduate course "Robotics: Science and Systems" at MIT (Instructor: Prof. Luca Carlone). Here is a pdf version...

Thu, 04/29/2021

I gave a guest lecture "Certifiable Outlier-Robust Machine Perception" at the graduate course "Visual Navigation for Autonomous Aerial Vehicles (VNA2V, AEROSP 740)" in University of Michigan, Ann Arbor (Instructor: Prof. Vasileios Tzoumas).

Wed, 03/10/2021

How is rigid body dynamics connected to computer vision?

In our new preprint, we introduce dynamical pose estimation, the first general and practical framework for solving a class of pose estimation problems in computer vision by simulating rigid body dynamics arising from virtual springs...

Fri, 03/05/2021

Self-supervised Geometric Perception, joint work with W. Dong, L. Carlone and V. Koltun has been accepted as an oral presentation in CVPR 2021.


Code: ...

Sun, 02/28/2021

The paper ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants has been accepted to be published and presented at International Conference on Robotics and Automation (ICRA), 2021.

Mon, 11/16/2020

Very happy to be a coauthor of Jingnan Shi's nice preprint about ROBIN, which applies invariance and graph theory to prune outliers in robot perception (like a charm)! Looking forward to exploring more applications of ROBIN.

Paper: https://...