Yixiao Feng

Yixiao (Caleb) Feng

Hi there! I am Yixiao Feng. I am a first-year Ph.D. student at Humanoid Computing Lab, Hong Kong University of Science and Technology (Guangzhou), supervised by Prof. Renjing Xu.

Previously, I received my M.EngSc degree in Robotics 🤖 at University of New South Wales (UNSW) in 2025, supervised by Dr. Jose Guivant. Prior to that, I obtained my B.Eng. degree from Beijing University of Chemical Technology (BUCT).

My primary research interest lies in Embodied AI, encompassing Humanoid Whole-body Control and Dexterous Hand 🦾. If you are interested in collaborating or discussing any topics related to robotics, feel free to reach me out!

Publications

*: equal contribution; †: corresponding author(s)

Block-Map-Based Localization in Large-Scale Environment
Yixiao Feng*, Zhou Jiang*, Yongliang Shi^†, Yunlong Feng, Xiangyu Chen, Hao Zhao, Guyue Zhou

ICRA 2024 (Oral)
[arXiv] [Video]

We first proposed a localization method based on Block-Map (BM) for large scenes, and provide a method for generating BMs and corresponding map-switching strategies. We also proposed a factor graph optimization method with different marginalization strategies for two cases where the robot moves within the same map or traverses between different maps. The final results showed that our method achieved a per-frame computation time up to 150% faster compared to using a global map.