publications

Publications in embodied AI, VLA systems, robotics, and 6DoF object pose estimation.

2026

  1. arXiv
    Spatial Grafting: Grounding 3D Features for Flow-Matching Robot Policies
    Dingsheng Liu, Yangzheng Wu, Mahboubeh Asadi, and 5 more authors
    arXiv preprint arXiv:2609.35249, 2026
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  2. arXiv
    StageGuard: Learning Stage Transitions for Long-Horizon Robot Tasks via Agentic Distillation
    Jinbang Huang, Yuanzhao Hu, Zhiyuan Li, and 6 more authors
    arXiv preprint arXiv:2609.20791, 2026
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  3. RSS Workshop
    Data and Evaluation Protocols for Robust Robotic Manipulation
    Zhiyuan Li, Charles Eret, Xuan Zhao, and 2 more authors
    In Data-Centric Robotics Workshop at Robotics: Science and Systems (RSS), 2026
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  4. ICRA
    Distracted Robot: How Visual Clutter Undermine Robotic Manipulation
    Amir Rasouli, Montgomery Alban, Sajjad Pakdamansavoji, and 4 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2026
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  5. arXiv
    How VLAs (Really) Work In Open-World Environments
    Amir Rasouli, Yangzheng Wu, Zhiyuan Li, and 4 more authors
    arXiv preprint arXiv:2604.21192, 2026
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  6. arXiv
    Do World Action Models Generalize Better than VLAs? A Robustness Study
    Zhanguang Zhang, Zhiyuan Li, Behnam Rahmati, and 11 more authors
    arXiv preprint arXiv:2603.22078, 2026
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2025

  1. arXiv
    Mem2Ego: Empowering Vision-Language Models with Global-to-Ego Memory for Long-Horizon Embodied Navigation
    Lingfeng Zhang, Yuecheng Liu, Zhanguang Zhang, and 19 more authors
    arXiv preprint arXiv:2502.14254, 2025
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  2. PhD Thesis
    Advancing 6DoF Object Pose Estimation: Keypoint Voting, Optimal Keypoint Sampling, and Bridging the Simulation-to-real Gap
    Yangzheng Wu
    Queen’s University, 2025
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2024

  1. ECCV
    Pseudo-keypoint RKHS Learning for Self-supervised 6DoF Pose Estimation
    Yangzheng Wu and Michael Greenspan
    In European Conference on Computer Vision, 2024
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  2. WACV
    Learning Better Keypoints for Multi-Object 6DoF Pose Estimation
    Yangzheng Wu and Michael Greenspan
    In Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, 2024
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2023

  1. Patent
    Systems and Methods for Pose Estimation via Radial Voting Based Keypoint Localization
    Michael Greenspan, Mohsen Zand, Seyed Ali Etemad, and 1 more author
    2023
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2022

  1. 3DV
    Keypoint Cascade Voting for Point Cloud Based 6DoF Pose Estimation
    Yangzheng Wu, Alireza Javaheri, Mohsen Zand, and 1 more author
    In International Conference on 3D Vision, 2022
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  2. ECCV
    Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Voting
    Yangzheng Wu, Mohsen Zand, Ali Etemad, and 1 more author
    In European Conference on Computer Vision, 2022
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  3. MASc Thesis
    Radial Voting Based Keypoint and 6DoF Pose Estimation
    Yangzheng Wu
    Queen’s University, 2022
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