Dr. Shenghai Yuan

I received my B.S. and Ph.D. degrees in Electrical and Electronic Engineering from Nanyang Technological University, Singapore. My research focuses on robotics perception and navigation. Currently, I am a senior research fellow at the Centre for Advanced Robotics Technology Innovation (CARTIN) at Nanyang Technological University, Singapore. My research interest lies in robotics, with a focus on SLAM, sensor fusion, and autonomous navigation in challenging environments such as mines and dynamic human-robot spaces, aiming to advance adaptive and collaborative robotic systems.

I have authored or co-authored more than 200 peer-reviewed publications in robotics, computer vision, and AI, and contributed to more than 10 patents and other intellectual property outputs. I serve as an Associate Editor for Pattern Recognition, IEEE Transactions on Automation Science and Engineering (T-ASE), and Unmanned Systems, and as an Area Chair for RSS 2027 and a Senior Program Committee Member for AAAI 2027.

My service has been recognized with Outstanding Reviewer Awards from ICRA (2024), CVPR (2025), IEEE RA-L (2026), ECCV (2026), and NeurIPS (2026), and Best Associate Editor Awards from Unmanned Systems (2025 and 2026). Our work has also received the IROS 2023 Best Entertainment and Amusement Paper Award and the Best Poster Award at the ICRA 2026 Robot Meets Prior Map Workshop.

News

Oct 20, 2026	Named among the World’s Top 2% Scientists in 2026.
Oct 18, 2026	Serving as an Area Chair for Robotics: Science and Systems (RSS) 2027.
Oct 16, 2026	Received the NeurIPS 2026 Outstanding Reviewer Award.
Oct 09, 2026	Invited talk at Singapore Institute of Technology on Reliable Robotic Systems: From Perception to Embodied Action.
Aug 10, 2026	Received the ECCV 2026 Outstanding Reviewer Award.
Jul 15, 2026	Received the 2026 Best Associate Editor Award from Unmanned Systems.
Jun 30, 2026	8 papers accepted to IROS 2026. IROS workshop Informative Path Planning also accepted.
Jun 25, 2026	Serving as a Senior Program Committee Member for AAAI 2027.
Jun 04, 2026	Received the Best Poster Award at the ICRA 2026 Robot Meets Prior Map Workshop.
Jun 03, 2026	Received the IEEE Robotics and Automation Letters Outstanding Reviewer Award.
Apr 12, 2026	Invited talk at Singapore Management University (SMU) on Towards Trustworthy Embodied AI.
Feb 23, 2026	2 papers accepted to CVPR 2026. IROS special session Robotics in Space Exploration accepted.
Jan 31, 2026	8 papers accepted to ICRA 2026. ICRA workshop Robot Meets Ranging also accepted.
Jan 23, 2026	Invited talk at Guangdong University of Technology (GDUT) on LiDAR perception and learning-based state estimation for aerial and ground robots.
Jan 15, 2026	1 paper accepted to ICASSP 2026.

Selected publications

Robot Design & Mechanisms

ICRA

PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots

S. Yuan , J. W. H. Yee , W. Guo , Z. Liu , T. M. Nguyen , and L. Xie^*

In IEEE International Conference on Robotics and Automation (ICRA), 2026

DOI arXiv Bib HTML Code

@inproceedings{yuan2026peralperceptionaware,
  title = {PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots},
  author = {Yuan, Shenghai and Yee, J. W. H. and Guo, W. and Liu, Z. and Nguyen, T. M. and Xie, L.},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
  pages = {22610--22617},
  doi = {10.1109/ICRA57385.2026.11696774},
}

RA-L

MagPerch: A Magnetically Locked, Lightweight Perching Mechanism for Micro-Aerial-Vehicles

A. Lee , S. Yuan , Z. Shen , and H. Zhang

IEEE Robotics and Automation Letters (RA-L), 2025

DOI Bib HTML Code

@article{lee2025magperchamagnetically,
  title = {MagPerch: A Magnetically Locked, Lightweight Perching Mechanism for Micro-Aerial-Vehicles},
  author = {Lee, A. and Yuan, Shenghai and Shen, Z. and Zhang, H.},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2025},
  volume = {10},
  number = {10},
  pages = {10370--10377},
  doi = {10.1109/LRA.2025.3597896},
}

RA-L

BMT-Exo: A Bio-Inspired Soft Exo-Glove with Muscle–Tendon Structure

J. Ding , Y. Peng , Y. Jiang , Z. Zuo , X. Huang , Y. Sun , S. Yuan , D. Zhang , and Y. Funabora

IEEE Robotics and Automation Letters, 2026

Bib HTML

@article{ding2026bmtexo,
  title = {BMT-Exo: A Bio-Inspired Soft Exo-Glove with Muscle–Tendon Structure},
  author = {Ding, Jun and Peng, Yanhong and Jiang, Yang and Zuo, ZiHao and Huang, Xia and Sun, Yuyang and Yuan, Shenghai and Zhang, Dan and Funabora, Yuki},
  journal = {IEEE Robotics and Automation Letters},
  year = {2026},
}

Datasets & Benchmarks

ICCV

UAVScenes: A Multi-Modal Dataset for UAVs

S. Wang^† , S. Li^† , Y. Zhang^† , S. Yu^† , S. Yuan^†* , R. She^† , Q. Guo , J. Zheng , O. K. Howe , L. Chandra , S. Srijeyan , A. Sivadas , T. Aggarwal , H. Liu , H. Zhang , C. Chen , J. Jiang , L. Xie , and W. P. Tay

In IEEE/CVF International Conference on Computer Vision (ICCV), 2025

DOI arXiv Bib HTML Code

@inproceedings{wang2025uavscenesamulti,
  title = {UAVScenes: A Multi-Modal Dataset for UAVs},
  author = {Wang, Sijie and Li, Siqi and Zhang, Yawei and Yu, Shangshu and Yuan, Shenghai and She, Rui and Guo, Quanjiang and Zheng, JinXuan and Howe, Ong Kang and Chandra, Leonrich and Srijeyan, Shrivarshann and Sivadas, Aditya and Aggarwal, Toshan and Liu, Heyuan and Zhang, Hongming and Chen, Chujie and Jiang, Junyu and Xie, Lihua and Tay, Wee Peng},
  booktitle = {IEEE/CVF International Conference on Computer Vision (ICCV)},
  year = {2025},
  pages = {28946--28958},
  doi = {10.1109/ICCV51701.2025.02688},
}

IJRR

NTU VIRAL: A Visual-Inertial-Ranging-LiDAR Dataset, from an Aerial Vehicle Viewpoint

T.-M. Nguyen , S. Yuan , M. Cao , Y. Lyu , T. H. Nguyen , and L. Xie

The International Journal of Robotics Research (IJRR), 2022

Bib HTML

@article{nguyen2022ntu,
  title = {NTU VIRAL: A Visual-Inertial-Ranging-LiDAR Dataset, from an Aerial Vehicle Viewpoint},
  author = {Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Muqing and Lyu, Yang and Nguyen, Thien H and Xie, Lihua},
  journal = {The International Journal of Robotics Research (IJRR)},
  year = {2022},
  volume = {41},
  number = {3},
  pages = {270--280},
}

ICRA

MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats

S. Yuan , Y. Yang , T. H. Nguyen , T.-M. Nguyen , J. Yang , F. Liu , J. Li , H. Wang , and L. Xie

In IEEE International Conference on Robotics and Automation (ICRA), 2024

DOI arXiv Bib HTML Video Code Hugging Face

@inproceedings{yuan2024MMAUD,
  title = {MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats},
  author = {Yuan, Shenghai and Yang, Yizhuo and Nguyen, Thien Hoang and Nguyen, Thien-Minh and Yang, Jianfei and Liu, Fen and Li, Jianping and Wang, Han and Xie, Lihua},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2024},
  pages = {2745--2751},
  doi = {10.1109/ICRA57147.2024.10610957},
}

IROS

GPUSimBench: Towards Scalable and Reliable GPU-Accelerated Simulators in Embodied AI

H. Zhang , S. Yuan^* , W. Yan , L. Ma , H. Li , J.-C. Pang , and D. Yudin

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

Bib HTML

@inproceedings{zhang2026gpusimbenchtowardsscalable,
  title = {GPUSimBench: Towards Scalable and Reliable GPU-Accelerated Simulators in Embodied AI},
  author = {Zhang, Huzhenyu and Yuan, Shenghai and Yan, Wenrui and Ma, Li and Li, Hengjie and Pang, Jing-Cheng and Yudin, Dmitry},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2026},
}

Counter-UAV Sensing & Control

CVPR

Adaptive 3D Perception for Small Aerial Targets Under Sparse Sampling via Reinforcement Learning

S. Yuan , Y. Wei , J. W. H. Yee , Z. Qiao , B. Lou , and E. Hu^*

In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026

Bib HTML

@inproceedings{yuan2026adaptive3dperception,
  title = {Adaptive 3D Perception for Small Aerial Targets Under Sparse Sampling via Reinforcement Learning},
  author = {Yuan, Shenghai and Wei, Y. and Yee, J. W. H. and Qiao, Z. and Lou, B. and Hu, E.},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2026},
  pages = {39064--39074},
}

Automatica

Aerial Target Encirclement and Interception with Noisy Range Observations

F. Liu , S. Yuan^* , T.-M. Nguyen , W. Meng , and L. Xie

Automatica, 2026

DOI arXiv Bib HTML Video

@article{liu2026aerialtargetencirclement,
  title = {Aerial Target Encirclement and Interception with Noisy Range Observations},
  author = {Liu, F. and Yuan, Shenghai and Nguyen, T.-M. and Meng, W. and Xie, L.},
  journal = {Automatica},
  year = {2026},
  volume = {183},
  eid = {112600},
  doi = {10.1016/j.automatica.2025.112600}
}

arXiv

Audio-based UAV Localization with Adaptive Temporal Correspondence via Reinforcement Learning

H. Lei , M. Feng , D. Wang , and S. Yuan

arXiv preprint arXiv:2609.24218, 2026

arXiv Bib HTML

@article{lei2026audiobaseduav,
  title = {Audio-based UAV Localization with Adaptive Temporal Correspondence via Reinforcement Learning},
  author = {Lei, H. and Feng, M. and Wang, D. and Yuan, Shenghai},
  journal = {arXiv preprint arXiv:2609.24218},
  year = {2026},
}

ICASSP

Unsupervised UAV Detection from Sparse LiDAR via Temporal Dispersion Signatures

S. Yuan^† , Z. Qi^† , Z. Duan^* , Y. Li , and B. Lou

In IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2026

DOI Bib HTML

@inproceedings{yuan2026unsuperviseduavdetection,
  title = {Unsupervised UAV Detection from Sparse LiDAR via Temporal Dispersion Signatures},
  author = {Yuan, Shenghai and Qi, Zhenghao and Duan, Zihang and Li, Yanbin and Lou, Boyang},
  booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
  year = {2026},
  pages = {19687--19691},
  doi = {10.1109/ICASSP55912.2026.11464432}
}

Review

SPQR: Structural-Prior-Guided Pathwise Querying and Routing for Multi-UAV Exploration

H. Zhong , S. Yuan , and L. Xie

2026

Submitted for review

Bib

@unpublished{zhong2026spqr,
  title = {SPQR: Structural-Prior-Guided Pathwise Querying and Routing for Multi-UAV Exploration},
  author = {Zhong, Hao and Yuan, Shenghai and Xie, Lihua},
  year = {2026},
  note = {Submitted for review},
}

G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation

Y. Liao , Y. Lan , Y. Yang , R. Liu , X. Xu , S. Yuan , and L. Xie

In Conference on Robot Learning (CoRL), 2026

Nanyang Technological University, Singapore

Abs Bib HTML PDF

G2-Nav translates social reasoning from a vision-language model into grounded costmaps for robot navigation. Tracked agents and scene regions shape the local route, while visual verification checks depth registration and a fast LiDAR reflex responds to newly observed obstacles between model updates.
@inproceedings{liao2026g2navgrounded, title = {G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation}, author = {Liao, Yuwen and Lan, Yihang and Yang, Yizhuo and Liu, Ruimeng and Xu, Xinhang and Yuan, Shenghai and Xie, Lihua}, booktitle = {Conference on Robot Learning (CoRL)}, year = {2026}, note = {Nanyang Technological University, Singapore}, }

Review

Audio-Visual Navigation with Probabilistic Sound Source Mapping and Open-Vocabulary Semantic Guidance

Y. Yang , S. Yuan^* , and L. Xie

2026

Submitted for review

Bib

@unpublished{yang2026audiovisualnavigation,
  title = {Audio-Visual Navigation with Probabilistic Sound Source Mapping and Open-Vocabulary Semantic Guidance},
  author = {Yang, Yizhuo and Yuan, Shenghai and Xie, Lihua},
  year = {2026},
  note = {Submitted for review},
}

Review

Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance

Y. Mao , F. Liu , S. Yuan , T. Hu , R. Liu , and R. Su

arXiv preprint arXiv:2609.25969, 2026

Submitted for review

arXiv Bib HTML

@article{mao2026predictbeforeyou,
  title = {Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance},
  author = {Mao, Yuhui and Liu, Fen and Yuan, Shenghai and Hu, Tianxin and Liu, Ruimeng and Su, Rong},
  journal = {arXiv preprint arXiv:2609.25969},
  year = {2026},
  note = {Submitted for review},
}

T-Mech

HiCo-Nav: A Deployable Embodied Object Navigation System with Hierarchical Cognition and Context-Aware Exploration

K. Xu , R. Liu , Y. Yang , D. Liang , T. Jin , S. Yuan , C. Wang , and L. Xie

IEEE/ASME Transactions on Mechatronics, 2026

arXiv Bib HTML Code

@article{xu2026hiconava,
  title = {HiCo-Nav: A Deployable Embodied Object Navigation System with Hierarchical Cognition and Context-Aware Exploration},
  author = {Xu, K. and Liu, R. and Yang, Y. and Liang, D. and Jin, T. and Yuan, Shenghai and Wang, C. and Xie, L.},
  journal = {IEEE/ASME Transactions on Mechatronics},
  year = {2026},
}

IROS

Multi-Agent Off-World Exploration for Sparse Evidence Discovery via Gaussian Belief Mapping and Dual-Domain Coverage

Z. Qiao^† , T. Hu^† , T.-M. Nguyen , and S. Yuan^*

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

Bib HTML

@inproceedings{qiao2026multiagentoff,
  title = {Multi-Agent Off-World Exploration for Sparse Evidence Discovery via Gaussian Belief Mapping and Dual-Domain Coverage},
  author = {Qiao, Zhuoran and Hu, Tianxin and Nguyen, Thien-Minh and Yuan, Shenghai},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2026},
}

Embodied Intelligence & Interaction

RA-L

SAOG: Spatial-Attribute-Aware 3D Object Grounding via Visual Question Answering-Enhanced Reasoning

T. Jin , J. Xu , S. Yuan , J. Li , T.-M. Nguyen , and L. Xie

IEEE Robotics and Automation Letters, 2026

DOI Bib HTML

@article{jin2026saogspatialattribute,
  title = {SAOG: Spatial-Attribute-Aware 3D Object Grounding via Visual Question Answering-Enhanced Reasoning},
  author = {Jin, Tongxing and Xu, Jie and Yuan, Shenghai and Li, Jianping and Nguyen, Thien-Minh and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  year = {2026},
  volume = {11},
  number = {11},
  pages = {13485--13492},
  doi = {10.1109/LRA.2026.3739027},
}

AIR-Embodied: Active Interactive Reconstruction for 3D Gaussian Splatting with Embodied Multimodal Agents

Z. Qi , S. Yuan^* , J. Liu , F. Liu , H. Cao , T. Deng , J. Yang , and L. Xie

Unmanned Systems, 2026

DOI arXiv Bib HTML Video

@article{qi2024air,
  title = {AIR-Embodied: Active Interactive Reconstruction for 3D Gaussian Splatting with Embodied Multimodal Agents},
  author = {Qi, Zhenghao and Yuan, Shenghai and Liu, Jinxin and Liu, Fen and Cao, Haozhi and Deng, Tianchen and Yang, Jianfei and Xie, Lihua},
  journal = {Unmanned Systems},
  year = {2026},
  pages = {1--12},
  doi = {10.1142/s2301385027410019},
}

T-ASE

FAM-HRI: Foundation-Model Assisted Multi-Modal Human-Robot Interaction Combining Gaze and Speech

Y. Lai , S. Yuan , P. Li , B. Zhang , B. Kiefer , T. Deng , and A. Zell

IEEE Transactions on Automation Science and Engineering, 2026

DOI arXiv Bib HTML

@article{lai2026famhrifoundation,
  title = {FAM-HRI: Foundation-Model Assisted Multi-Modal Human-Robot Interaction Combining Gaze and Speech},
  author = {Lai, Yuzhi and Yuan, Shenghai and Li, Peizheng and Zhang, Boya and Kiefer, Benjamin and Deng, Tianchen and Zell, Andreas},
  journal = {IEEE Transactions on Automation Science and Engineering},
  year = {2026},
  volume = {23},
  pages = {10521--10534},
  doi = {10.1109/tase.2026.3695438},
}

Review

SERVE: Learning Agile Badminton Serving Skills Across Humanoid Embodiments

L. Chen , H. Wang , J. Yan , F. Yang , and S. Yuan^*

2026

Submitted for review

Bib

@unpublished{chen2026serve,
  title = {SERVE: Learning Agile Badminton Serving Skills Across Humanoid Embodiments},
  author = {Chen, Long and Wang, Haochen and Yan, Jun and Yang, Fan and Yuan, Shenghai},
  year = {2026},
  note = {Submitted for review},
}

Review

NexusBot: Geometry-Guided Perception and Manipulation of Irregular Biological Surfaces

L. Chen , H. Wang , F. Yang , W. Wang , and S. Yuan^*

2026

Submitted for review

Bib

@unpublished{chen2026nexusbot,
  title = {NexusBot: Geometry-Guided Perception and Manipulation of Irregular Biological Surfaces},
  author = {Chen, Long and Wang, Haochen and Yang, Fan and Wang, Wenjie and Yuan, Shenghai},
  year = {2026},
  note = {Submitted for review},
}

SEER-VAR: Semantic Egocentric Environment Reasoner for Vehicle Augmented Reality

Y. Lai , S. Yuan , P. Li , J. Lou , and A. Zell

In IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2027

arXiv Bib HTML

@inproceedings{lai2025seervarsemantic,
  title = {SEER-VAR: Semantic Egocentric Environment Reasoner for Vehicle Augmented Reality},
  author = {Lai, Yuzhi and Yuan, Shenghai and Li, Peizheng and Lou, Jun and Zell, Andreas},
  booktitle = {IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
  year = {2027},
}

Multimodal Perception & Mapping

CVPR

TGSFormer: Scalable Temporal Gaussian Splatting for Embodied Semantic Scene Completion

R. Qian , H. Cao , T. Deng , T. Hu , W. Guo , S. Yuan , and L. Xie

In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026

arXiv Bib HTML Video Code

@inproceedings{qian2026tgsformerscalabletemporal,
  title = {TGSFormer: Scalable Temporal Gaussian Splatting for Embodied Semantic Scene Completion},
  author = {Qian, R. and Cao, H. and Deng, T. and Hu, T. and Guo, W. and Yuan, Shenghai and Xie, L.},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2026},
  pages = {11881--11890},
}

AAAI

SplatSSC: Decoupled Depth-Guided Gaussian Splatting for Semantic Scene Completion

R. Qian^† , H. Cao^† , T. Deng , S. Yuan^* , and L. Xie

In AAAI Conference on Artificial Intelligence (AAAI), 2026

Oral presentation

DOI arXiv Bib HTML PDF Code

@inproceedings{qian2026splatsscdecoupleddepth,
  title = {SplatSSC: Decoupled Depth-Guided Gaussian Splatting for Semantic Scene Completion},
  author = {Qian, Rui and Cao, Haozhi and Deng, Tianchen and Yuan, Shenghai and Xie, Lihua},
  booktitle = {AAAI Conference on Artificial Intelligence (AAAI)},
  year = {2026},
  volume = {40},
  number = {10},
  pages = {8520--8528},
  doi = {10.1609/aaai.v40i10.37803},
  note = {Oral presentation},
}

ICRA

CETUS: Causal Event-Driven Temporal Modeling With Unified Variable-Rate Scheduling

H. Liang , B. Wang , S. Zhang , W. Jiang , Y. Yang , W. Guo , and S. Yuan^*

In IEEE International Conference on Robotics and Automation (ICRA), 2026

DOI arXiv Bib HTML

@inproceedings{liang2026cetuscausalevent,
  title = {CETUS: Causal Event-Driven Temporal Modeling With Unified Variable-Rate Scheduling},
  author = {Liang, Hanfang and Wang, Bing and Zhang, Shizhen and Jiang, Wen and Yang, Yizhuo and Guo, Weixiang and Yuan, Shenghai},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
  pages = {19949--19956},
  doi = {10.1109/ICRA57385.2026.11696160},
}

TRO

AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System

K. Xu , Y. Hao , S. Yuan , C. Wang , and L. Xie

IEEE Transactions on Robotics (TRO), 2025

DOI Bib HTML

@article{xu2024airslam,
  title = {AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System},
  author = {Xu, Kuan and Hao, Yuefan and Yuan, Shenghai and Wang, Chen and Xie, Lihua},
  journal = {IEEE Transactions on Robotics (TRO)},
  year = {2025},
  volume = {41},
  pages = {1673--1692},
  doi = {10.1109/tro.2025.3539171},
}

UWB Localization & State Estimation

Review

CARE-UWB: Consistency-Aware Receding-Horizon Estimation for Large-Scale UWB-only Localization under Sparse and NLOS-Affected Radio Conditions

S. Yuan^* , F. Liu , B. Lou , T.-M. Nguyen , and L. Xie

2026

Submitted for review

Bib

@unpublished{yuan2026careuwb,
  title = {CARE-UWB: Consistency-Aware Receding-Horizon Estimation for Large-Scale UWB-only Localization under Sparse and NLOS-Affected Radio Conditions},
  author = {Yuan, Shenghai and Liu, Fen and Lou, Boyang and Nguyen, Thien-Minh and Xie, Lihua},
  note = {Submitted for review},
  year = {2026},
}

Review

Policy-Guided Trust Allocation for Single-Anchor UWB-Aided Neural Inertial Odometry

Y. Tang , H. Zhong , Z. Qiao , Y. Qi , X. Wang , and S. Yuan^*

2026

Submitted for review

Bib

@unpublished{tang2026policyguided,
  title = {Policy-Guided Trust Allocation for Single-Anchor UWB-Aided Neural Inertial Odometry},
  author = {Tang, Yihan and Zhong, Hao and Qiao, Zhuoran and Qi, Yuhua and Wang, Xuehe and Yuan, Shenghai},
  year = {2026},
  note = {Submitted for review},
}

Review

Single-Anchor-UWB Aided Neural-Inertial Odometry with Adaptive-Horizon Model Predictive Path Integral Fusion

Y. Tang , F. Liu , H. Zhang , B. Lou , E. Hu , A. P. Schoellig , and S. Yuan^*

2026

Submitted for review

Bib

@unpublished{tang2026adaptivehorizon,
  title = {Single-Anchor-UWB Aided Neural-Inertial Odometry with Adaptive-Horizon Model Predictive Path Integral Fusion},
  author = {Tang, Yihan and Liu, Fen and Zhang, Haoming and Lou, Boyang and Hu, Enwen and Schoellig, Angela P. and Yuan, Shenghai},
  year = {2026},
  note = {Submitted for review},
}

ICRA

Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process

S. Yuan , B. Lou , T.-M. Nguyen , P. Yin , M. Cao , X. Xu , J. Li , J. Xu , S. Chen , and L. Xie

In IEEE International Conference on Robotics and Automation (ICRA), 2025

arXiv Bib HTML Video

@inproceedings{yuan2025largescaleuwb,
  title = {Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process},
  author = {Yuan, Shenghai and Lou, B. and Nguyen, T.-M. and Yin, P. and Cao, M. and Xu, X. and Li, J. and Xu, J. and Chen, S. and Xie, L.},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2025},
  pages = {3132--3138},
}

Review

MAUFormer: A Map-Aware UWB Transformer for Large-Scale Localization with Few-Shot Trajectory Priors

S. Yuan , F. Liu , Y. Wei , M. Hu , S. Jin , and X. Fang

2026

Submitted for review

Bib

@unpublished{yuan2026mauformer,
  title = {MAUFormer: A Map-Aware UWB Transformer for Large-Scale Localization with Few-Shot Trajectory Priors},
  author = {Yuan, Shenghai and Liu, Fen and Wei, Yihan and Hu, Mingxuan and Jin, Siyuan and Fang, Xu},
  year = {2026},
  note = {Submitted for review},
}

Review

FSULoc: Few-Shot UWB Localization with Sparse Anchors in Large-Scale NLOS Environments

S. Yuan^* , Y. Ning , C. He , Y. Wei , F. Liu , and X. Fang

2026

Submitted for review

Bib

@unpublished{yuan2026fsuloc,
  title = {FSULoc: Few-Shot UWB Localization with Sparse Anchors in Large-Scale NLOS Environments},
  author = {Yuan, Shenghai and Ning, Yangyang and He, Chengxiao and Wei, Yihan and Liu, Fen and Fang, Xu},
  year = {2026},
  note = {Submitted for review},
}

Field & Assistive Robotics

IROS

EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots

Y. Lu , Y. Hu , S. Yuan , X. Zhou , K. Zuo , B. Lyu , X. Yuan , and J. Yang^*

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

Bib HTML

@inproceedings{lu2026emfallembodied,
  title = {EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots},
  author = {Lu, Yanshuo and Hu, Yuxuan and Yuan, Shenghai and Zhou, Xinyu and Zuo, Kuangji and Lyu, Bofan and Yuan, Xichen and Yang, Jianfei},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2026},
}

Preprint

STARC: See-Through-Wall Augmented Reality Framework for Human-Robot Collaboration in Emergency Response

S. Yuan , W. Guo , T. Hu , Y. Yang , J. Chen , R. Qian , Z. Liu , and L. Xie

arXiv preprint arXiv:2509.15507, 2025

Nanyang Technological University, Singapore

arXiv Bib HTML PDF

@article{yuan2025starcseethrough,
  title = {STARC: See-Through-Wall Augmented Reality Framework for Human-Robot Collaboration in Emergency Response},
  author = {Yuan, Shenghai and Guo, Weixiang and Hu, Tianxin and Yang, Yu and Chen, Jinyu and Qian, Rui and Liu, Zhongyuan and Xie, Lihua},
  journal = {arXiv preprint arXiv:2509.15507},
  year = {2025},
  note = {Nanyang Technological University, Singapore},
}

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