Yixiao Feng 冯逸潇

Hong Kong University of Science and Technology (Guangzhou)

Biography

I am a first-year Ph.D. student at the Hong Kong University of Science and Technology (Guangzhou), advised by Prof. Renjing Xu. My research mainly focuses on humanoid robots, especially their interaction with objects and environments.

Before starting my Ph.D., I received my M.EngSc degree in Robotics from the University of New South Wales in 2025, supervised by Dr. Jose Guivant, and my B.Eng. degree from Beijing University of Chemical Technology in 2022.

I had a memorable research internship at BNRist, Tsinghua University, from January to May 2025, where I worked with Dr. Yongliang Shi and Dr. Weining Lu. Earlier, from October 2021 to December 2022, I interned at AIR, Tsinghua University, working with Dr. Yongliang Shi and Prof. Guyue Zhou.

News

Follow @Yixiao0210

[2026/06] Our work PL-LIT was accepted by IROS 2026.

[2026/01] Our work DreamNav was accepted by ICRA 2026.

[2025/09] Thrilled to start my Ph.D. journey at HKUST(GZ).

[2025/06] Two works were accepted by IROS 2025.

[2025/01] Graduated from UNSW with M.EngSc in Robotics (with Excellence).

[2024/01] Our work BM-Loc was accepted by ICRA 2024.

Publications

* equal contribution, † corresponding author

PDF-HR: Pose Distance Fields for Humanoid Robots

Yi Gu*, Yukang Gao*, Yangchen Zhou*, Xingyu Chen, Yixiao Feng, Mingle Zhao, Yunyang Mo, Zhaorui Wang, Lixin Xu, Renjing Xu^†

ArXiv 2026

Home Paper Code

@article{gu2026hr,
  title={HR: Pose Distance Fields for Humanoid Robots},
  author={Gu, Yi and Gao, Yukang and Zhou, Yangchen and Chen, Xingyu and Feng, Yixiao and Zhao, Mingle and Mo, Yunyang and Wang, Zhaorui and Xu, Lixin and Xu, Renjing},
  journal={arXiv preprint arXiv:2602.04851},
  year={2026}
}

HERO: Hierarchical Traversable 3D Scene Graphs for Interactive Embodied Navigation

Yunheng Wang*, Yixiao Feng*, Yuetong Fang*, Taowen Wang, Shuning Zhang, Jian Li, Xiangrui Jiang, Renjing Xu^†

ArXiv 2025

Paper

@article{wang2025hero,
  title={HERO: Hierarchical Traversable 3D Scene Graphs for Embodied Navigation Among Movable Obstacles},
  author={Wang, Yunheng and Feng, Yixiao and Fang, Yuetong and Zhang, Shuning and Jing, Tan and Li, Jian and Jiang, Xiangrui and Xu, Renjing},
  journal={arXiv preprint arXiv:2512.15047},
  year={2025}
}

PL-LIT: A LiDAR-Inertial-Thermal SLAM Using Point-Line Features and Thermographic Mapping

Jiawei Xia, Yixiao Feng, Yongliang Shi^†, Chao Gao^†, Renjing Xu, Weining Lu, Bin Liang

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

Paper Results

@article{xia2026pllit,
  title={PL-LIT: A LiDAR-Inertial-Thermal SLAM Using Point-Line Features and Thermographic Mapping},
  author={Xia, Jiawei and Feng, Yixiao and Shi, Yongliang and Gao, Chao and Xu, Renjing and Lu, Weining and Liang, Bin},
  journal={arXiv preprint arXiv:2606.29259},
  year={2026}
}

DreamNav: A Trajectory-Based Imaginative Framework for Zero-Shot Vision-and-Language Navigation

Yunheng Wang*, Yuetong Fang*, Taowen Wang*, Yixiao Feng*, Yawen Tan, Shuning Zhang, Peiran Liu, Yiding Ji, Renjing Xu^†

IEEE International Conference on Robotics and Automation (ICRA 2026)

Home Paper Code

@article{wang2025dreamnav,
  title={Dreamnav: A trajectory-based imaginative framework for zero-shot vision-and-language navigation},
  author={Wang, Yunheng and Fang, Yuetong and Wang, Taowen and Feng, Yixiao and Tan, Yawen and Zhang, Shuning and Liu, Peiran and Ji, Yiding and Xu, Renjing},
  journal={arXiv preprint arXiv:2509.11197},
  year={2025}
}

High-Fidelity Gaussian Splatting overview

Robust and High-Fidelity 3D Gaussian Splatting: Fusing Pose Priors and Geometry Constraints for Texture-Deficient Outdoor Scenes

Meijun Guo, Yongliang Shi, Caiyun Liu, Yixiao Feng, Ming Ma, Tinghai Yan, Weining Lu^†, Bin Liang

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Paper

@inproceedings{guo2025robust,
  title={Robust and High-Fidelity 3D Gaussian Splatting: Fusing Pose Priors and Geometry Constraints for Texture-Deficient Outdoor Scenes},
  author={Guo, Meijun and Shi, Yongliang and Liu, Caiyun and Feng, Yixiao and Ma, Ming and Yan, Tinghai and Lu, Weining and Liang, Bin},
  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4414--4420},
  year={2025},
  organization={IEEE}
}

Cross-modal Air-Ground Relative Localization cover

Semi-distributed Cross-modal Air-Ground Relative Localization

Weining Lu, Deer Bin, Lian Ma, Ming Ma, Zhihao Ma, Xiangyang Chen, Longfei Wang, Yixiao Feng, Zhouxian Jiang, Yongliang Shi^†, Bin Liang^†

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Paper Results

@inproceedings{lu2025semi,
  title={Semi-distributed Cross-modal Air-Ground Relative Localization},
  author={Lu, Weining and Bin, Deer and Ma, Lian and Ma, Ming and Ma, Zhihao and Chen, Xiangyang and Wang, Longfei and Feng, Yixiao and Jiang, Zhouxian and Shi, Yongliang and others},
  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4634--4640},
  year={2025},
  organization={IEEE}
}

Block-Map-Based Localization in Large-Scale Environment

Yixiao Feng*, Zhou Jiang*, Yongliang Shi^†, Yunlong Feng, Xiangyu Chen, Hao Zhao, Guyue Zhou

IEEE International Conference on Robotics and Automation (ICRA 2024)

Paper Results Code

@inproceedings{feng2024block,
  title={Block-map-based localization in large-scale environment},
  author={Feng, Yixiao and Jiang, Zhou and Shi, Yongliang and Feng, Yunlong and Chen, Xiangyu and Zhao, Hao and Zhou, Guyue},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1709--1715},
  year={2024},
  organization={IEEE}
}

Academic Services

Teaching Assistant: MICS 6002L - Introduction to Humanoid Computing (26 Spring, HKUST(GZ))
Conference Reviewer: IROS (2025 / 2026)
Journal Reviewer: RA-L