Papers
Publications.
Preprints are listed first, followed by peer-reviewed and accepted papers in reverse chronological order.
Preprints
Latest preprints from Google Scholar.
- 2026PreprintNEXUS: Neural Energy Fields for Physically Consistent Contact-Rich 3D Object Dynamics
Q. Ying, G. Wang, Y. Pan, V. A. Prisacariu, and Y. Jing.
arXiv preprint arXiv:2606.15015.
- 2026PreprintPhySPRING: Structure-Preserving Reduction of Physics-Informed Twins via GNN
Y. Jing, X. Chen, G. Wang, O. Wysocki, H. Wu, and B. Sheil.
arXiv preprint arXiv:2605.07687.
- 2026PreprintRobot Learning from Human Videos: A Survey
J. Ma, E. Zhang, H. Yang, D. Li, C. Xu, G. Wang, and H. Wang.
arXiv preprint arXiv:2604.27621.
- 2026PreprintTowards the Vision-Sound-Language-Action Paradigm: The HEAR Framework for Sound-Centric Manipulation
C. Nie, T. Deng, G. Wang, Z. Liu, and H. Wang.
arXiv preprint arXiv:2603.16086.
- 2026PreprintOGScene3D: Incremental Open-Vocabulary 3D Gaussian Scene Graph Mapping for Scene Understanding
S. Zhu, Z. Lu, G. Wang, C. Huang, Y. Chen, I. Chen, W. Burgard, and H. Wang.
arXiv preprint arXiv:2603.16301.
- 2026PreprintRegFormer++: An Efficient Large-Scale 3D LiDAR Point Registration Network with Projection-Aware 2D Transformer
J. Liu, G. Wang, Z. Liu, C. Jiang, H. Li, M. Liu, T. Deng, M. Pollefeys, M. Y. Yang, and H. Wang.
arXiv preprint arXiv:2603.14290.
- 2025PreprintContinually Evolving Skill Knowledge in Vision Language Action Model
Y. Wu, G. Wang, Z. Yang, T. Deng, M. Yao, B. Sheil, and H. Wang.
arXiv preprint arXiv:2511.18085.
- 2025PreprintERMV: Editing 4D Robotic Multi-view Images to Enhance Embodied Agents
C. Nie, G. Wang, Z. Liu, and H. Wang.
arXiv preprint arXiv:2507.17462.
- 2025PreprintCAD-SLAM: Consistency-Aware Dynamic SLAM with Dynamic-Static Decoupled Mapping
W. Wu, C. Su, S. Zhu, T. Deng, G. Wang, Z. Liu, and H. Wang.
arXiv preprint arXiv:2505.19420.
- 2024Preprint3D Gaussian Splatting in Robotics: A Survey
S. Zhu, G. Wang, X. Kong, D. Kong, and H. Wang.
arXiv preprint arXiv:2410.12262.
- 2023PreprintSC-NeRF: Self-Correcting Neural Radiance Field with Sparse Views
L. Song, G. Wang, J. Liu, Z. Fu, and Y. Miao.
arXiv preprint arXiv:2309.05028.
- 2022PreprintFFPA-Net: Efficient Feature Fusion with Projection Awareness for 3D Object Detection
C. Jiang, G. Wang, J. Wu, Y. Miao, and H. Wang.
arXiv preprint arXiv:2209.07419.
- 2022PreprintDetFlowTrack: 3D Multi-object Tracking Based on Simultaneous Optimization of Object Detection and Scene Flow Estimation
Y. Shen, G. Wang, and H. Wang.
arXiv preprint arXiv:2203.02157.
2026
Published and accepted papers.
- 2026ProceedingsPerson Parametric Physics-Informed Representation for mmWave-Based Human Pose Estimation
S. Zheng, J. Li, G. Wang, M. Ni, A. Palit, G. Montana, and Y. Guan.
Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies, 2026.
- 2026ConferenceRoboFlow4D: A Lightweight Flow World Model Toward Real-Time Flow-Guided Robotic Manipulation
S. Lin, J. Chen, H. Xu, Z. Li, G. Wang, Y. Jing, S. Xu, R. Zhao, B. Sheil, L. P. Chau, and others.
ICML, 2026.
- 2026JournalNeRFs in Robotics: A Survey
G. Wang, L. Pan, S. Peng, S. Liu, C. Xu, Y. Miao, W. Zhan, M. Tomizuka, M. Pollefeys, and H. Wang.
The International Journal of Robotics Research, 45(6), 858-892, 2026.
- 2026JournalTransSeg: 3-D Semantic Segmentation Based on 2D-3D Trans-Modal Fusion for Autonomous Driving
M. Zhuang, G. Wang, and H. Wang.
IEEE Transactions on Industrial Informatics, 2026.
- 2026JournalZero-Shot Depth Map Restoration from Sparse Infrastructure Point Clouds Using Diffusion Models and Prompted Segmentation
Y. Jing, C. Zhang, H. Wu, G. Wang, O. Wysocki, and B. Sheil.
Automation in Construction, 2026.
- 2026ConferenceCoMA-SLAM: Collaborative Multi-Agent Gaussian SLAM with Geometric Consistency
L. Chen, Y. Su, J. Wang, P. Han, Z. Xia, S. Bu, K. Li, B. Hu, S. Meng, and G. Wang.
AAAI, 2026.
- 2026ConferenceActionReasoning: Robot Action Reasoning in 3D Space with LLM for Robotic Brick Stacking
G. Wang, Q. Ying, Y. Jing, O. Wysocki, and B. Sheil.
ICRA, 2026.
- 2026ConferenceTowards Mitigating Modality Bias in Vision-Language Models for Temporal Action Localization
J. Li, G. Wang, S. Zheng, M. Ni, X. Lu, G. Ye, and Y. Guan.
ACL, 2026.
2025
Published and accepted papers.
- 2025JournalSNI-SLAM++: Tightly-Coupled Semantic Neural Implicit SLAM
S. Zhu, G. Wang, H. Blum, Z. Wang, G. Zhang, D. Cremers, M. Pollefeys, and H. Wang.
IEEE Transactions on Pattern Analysis and Machine Intelligence, 2025.
- 2025JournalDifFlow3D: Hierarchical Diffusion Models for Uncertainty-Aware 3D Scene Flow Estimation
J. Liu, W. Ye, G. Wang, C. Jiang, L. Pan, J. Han, Z. Liu, G. Zhang, and H. Wang.
IEEE Transactions on Pattern Analysis and Machine Intelligence, 2025.
- 2025ConferenceMovSAM: A Single-Image Moving Object Segmentation Framework Based on Deep Thinking
C. Nie, Y. Xu, G. Wang, Z. Liu, and Y. Miao.
IROS, 2025.
- 2025ConferenceSemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM
S. Zhu, R. Qin, G. Wang, J. Liu, and H. Wang.
IROS, 2025.
- 2025JournalMonoPCFlow: Enabling Efficient Scene Flow Estimation from Monocular View
C. Cheng, G. Wang, Y. D. Zheng, L. Liu, and H. Wang.
IEEE Transactions on Instrumentation and Measurement, 2025.
- 2025JournalEnd-to-End 2D-3D Registration between Image and LiDAR Point Cloud for Vehicle Localization
G. Wang, Y. Zheng, Y. Wu, Y. Guo, Z. Liu, Y. Zhu, W. Burgard, and H. Wang.
IEEE Transactions on Robotics, 2025.
- 2025JournalOffboard Occupancy Refinement with Hybrid Propagation for Autonomous Driving
H. Shi, S. Wang, J. Zhang, X. Yin, G. Wang, J. Zhu, K. Yang, and K. Wang.
IEEE Transactions on Intelligent Transportation Systems, 2025.
- 2025JournalUnsupervised Learning of 3D Scene Flow With LiDAR Odometry Assistance
G. Wang, Z. Feng, C. Jiang, J. Liu, and H. Wang.
IEEE Transactions on Intelligent Transportation Systems, 2025.
- 2025JournalG2-Mapping: General Gaussian Mapping for Monocular, RGB-D, and LiDAR-Inertial-Visual Systems
L. Chen, B. Hu, J. Wang, S. Bu, G. Wang, P. Han, and J. Chen.
IEEE Transactions on Automation Science and Engineering, 2025.
- 2025ConferenceRL-GSBridge: 3D Gaussian Splatting Based Real2Sim2Real Method for Robotic Manipulation Learning
Y. Wu, L. Pan, W. Wu, G. Wang, Y. Miao, and H. Wang.
ICRA, 2025.
- 2025ConferenceDVN-SLAM: Dynamic Visual Neural SLAM Based on Local-Global Encoding
W. Wu, G. Wang, T. Deng, S. Aegidius, S. Shanks, V. Modugno, D. Kanoulas, and H. Wang.
ICRA, 2025.
- 2025ConferenceCODE: COllaborative Visual-UWB SLAM for Online Large-Scale Metric DEnse Mapping
L. Chen, X. Jia, S. Bu, G. Wang, K. Li, Z. Xia, X. Li, P. Han, and X. Cao.
IROS, 2025.
- 2025ConferenceDigital Twin-Based HVAC Model Generation Using Point Cloud and Image Data for Building Retrofitting
M. Wang, A. Chan, Y. Wen, G. Wang, L. Lu, and I. Brilakis.
ASCE i3CE, 2025.
- 2025ConferenceGeometric Model of Hydropower Plants: A Foundational Step Towards Creating a Hydropower Digital Twin
A. Mathew, H. Alavi, G. Wang, Y. Su, W. Che, and I. Brilakis.
European Conference on Computing in Construction, 2025.
2024
Published and accepted papers.
- 2024ConferenceDnFPlane for Efficient and High-Quality 4D Reconstruction of Deformable Tissues
R. Bu, C. Xu, J. Shan, H. Li, G. Wang, Y. Miao, and H. Wang.
MICCAI, 2024.
- 2024ConferenceSpherical Frustum Sparse Convolution Network for LiDAR Point Cloud Semantic Segmentation
Y. Zheng*, G. Wang*, J. Liu, M. Pollefeys, and H. Wang.
NeurIPS, 2024.
- 2024ConferenceDSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spatio-Temporal Propagation
H. Zhang, G. Wang, X. Wu, C. Xu, M. Ding, M. Tomizuka, W. Zhan, and H. Wang.
IROS, 2024.
- 2024ConferenceEMIE-MAP: Large-Scale Road Surface Reconstruction Based on Explicit Mesh and Implicit Encoding
W. Wu, Q. Wang, G. Wang, J. Wang, T. Zhao, Y. Liu, D. Gao, Z. Liu, and H. Wang.
ECCV, 2024.
- 2024ConferenceLHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map
X. Wu, J. Xu, P. Hu, G. Wang, and H. Wang.
ICRA, 2024.
- 2024Conference3DSFLabelling: Boosting 3D Scene Flow Estimation by Pseudo Auto-Labelling
C. Jiang, G. Wang, J. Liu, H. Wang, Z. Ma, Z. Liu, Z. Liang, Y. Shan, and D. Du.
CVPR, 2024.
- 2024ConferenceSNI-SLAM: Semantic Neural Implicit SLAM
S. Zhu*, G. Wang*, H. Blum, J. Liu, L. Song, M. Pollefeys, and H. Wang.
CVPR, 2024.
- 2024ConferenceDifFlow3D: Toward Robust Uncertainty-Aware Scene Flow Estimation with Iterative Diffusion-Based Refinement
J. Liu, G. Wang, W. Ye, C. Jiang, J. Han, Z. Liu, G. Zhang, D. Du, and H. Wang.
CVPR, 2024.
- 2024JournalReview of Multimodal Data and Their Applications for Road Maintenance
S. Malihi, L. P., A. Mathew, H. Alavi, V. Reja, Y. Pan, L. Binni, G. Wang, X. Wang, and I. Brilakis.
Smart Construction, 2024.
- 2024Journal3D Multi-target Tracking Based on Joint Optimisation of Object Detection and Scene Flow Estimation
G. Wang, L. Song, Y. Shen, and H. Wang.
Robotics, 46(5), 554-561, 2024.
- 2024ConferenceDense 3D Neural Map Reconstruction Only Using a Low-Cost LiDAR
G. Wang, A. Mathew, M. Wang, Y. Wen, H. Alavi, W. Chen, and I. Brilakis.
ASCE i3CE, 2024.
- 2024ConferenceAn Integrated Solution for Automatic 3D Object-Based Information Retrieval
Y. Wen, M. Wang, M. Ariyachandra, G. Wang, I. Brilakis, and L. Xiao.
ASCE i3CE, 2024.
- 2024ConferenceAutomated Generation of Geometric Digital Twin of Roof for Building Retrofitting
M. Wang, Y. Wen, Y. Pan, G. Wang, H. Alavi, S. Kookalani, and I. Brilakis.
ASCE i3CE, 2024.
- 2024ConferenceDigital Twins in Construction: Leveraging Point Cloud Data and BIM for Monitoring Project Schedule
H. Alavi, M. Wang, G. Wang, S. Kookalani, A. Mathew, and I. Brilakis.
ASCE i3CE, 2024.
2023
Published and accepted papers.
- 2023JournalPseudo-LiDAR for Visual Odometry
Y. Miao, H. Deng, C. Jiang, Z. Feng, X. Wu, G. Wang, and H. Wang.
IEEE Transactions on Instrumentation and Measurement, 2023.
- 2023ConferenceRLSAC: Reinforcement Learning Enhanced Sample Consensus for End-to-End Robust Estimation
C. Nie, G. Wang, Z. Liu, L. Cavalli, M. Pollefeys, and H. Wang.
ICCV, 2023.
- 2023ConferenceDELFlow: Dense Efficient Learning of Scene Flow for Large-Scale Point Clouds
C. Peng*, G. Wang*, X. W. Lo, X. Wu, C. Xu, M. Tomizuka, W. Zhan, and H. Wang.
ICCV, 2023.
- 2023ConferenceTransLO: A Window-Based Masked Point Transformer Framework for Large-Scale LiDAR Odometry
J. Liu*, G. Wang*, C. Jiang, Z. Liu, and H. Wang.
AAAI, 2023.
- 2023ConferenceUnsupervised Learning of Depth and Pose Based on Monocular Camera and Inertial Measurement Unit
Y. Wang, H. Yang, J. Cai, G. Wang, J. Wang, and Y. Huang.
ICRA, 2023.
- 2023ConferenceAnomaly Detection for Robust Autonomous Navigation
K. Jin, F. Mu, X. Han, G. Wang, and Z. Liu.
ICRA, 2023.
- 2023ConferenceSelf-Supervised Multi-Frame Monocular Depth Estimation with Pseudo-LiDAR Pose Enhancement
W. Wu, G. Wang, J. Zhong, H. Wang, and Z. Liu.
ICRA, 2023.
- 2023JournalInteractive Multi-Scale Fusion of 2D and 3D Features for Multi-Object Vehicle Tracking
G. Wang, C. Peng, Y. Gu, J. Zhang, and H. Wang.
IEEE Transactions on Intelligent Transportation Systems, 2023.
- 2023JournalGraph Relational Reinforcement Learning for Mobile Robot Navigation in Large-Scale Crowded Environments
Z. Liu, Y. Zhai, J. Li, G. Wang, Y. Miao, and H. Wang.
IEEE Transactions on Intelligent Transportation Systems, 2023.
- 2023ConferenceRegFormer: An Efficient Projection-Aware Transformer Network for Large-Scale Point Cloud Registration
J. Liu*, G. Wang*, Z. Liu, C. Jiang, M. Pollefeys, and H. Wang.
ICCV, 2023.
2022
Published and accepted papers.
- 2022Journal3D Hierarchical Refinement and Augmentation for Unsupervised Learning of Depth and Pose from Monocular Video
G. Wang, J. Zhong, S. Zhao, W. Wu, Z. Liu, and H. Wang.
IEEE Transactions on Circuits and Systems for Video Technology, 2022.
- 2022Journal3D Scene Flow Estimation on Pseudo-LiDAR: Bridging the Gap on Estimating Point Motion
C. Jiang, G. Wang, Y. Miao, and H. Wang.
IEEE Transactions on Industrial Informatics, 2022.
- 2022JournalEfficient 3D Deep LiDAR Odometry
G. Wang, X. Wu, S. Jiang, Z. Liu, and H. Wang.
IEEE Transactions on Pattern Analysis and Machine Intelligence, 2022.
- 2022JournalLearning of Long-Horizon Sparse-Reward Robotic Manipulator Tasks with Base Controllers
G. Wang, M. Xin, W. Wu, Z. Liu, and H. Wang.
IEEE Transactions on Neural Networks and Learning Systems, 2022.
- 2022ConferenceWhat Matters for 3D Scene Flow Network
G. Wang, Y. Hu, Z. Liu, Y. Zhou, M. Tomizuka, W. Zhan, and H. Wang.
ECCV, 2022.
- 2022JournalUnsupervised Learning of Optical Flow with Non-Occlusion from Geometry
G. Wang, S. Ren, and H. Wang.
IEEE Transactions on Intelligent Transportation Systems, 2022.
- 2022JournalMotion Projection Consistency Based 3D Human Pose Estimation with Virtual Bones from Monocular Videos
G. Wang, H. Zeng, Z. Wang, Z. Liu, and H. Wang.
IEEE Transactions on Cognitive and Developmental Systems, 2022.
- 2022ConferenceFusionNet: Coarse-to-Fine Extrinsic Calibration Network of LiDAR and Camera with Hierarchical Point-Pixel Fusion
G. Wang, J. Qiu, Y. Guo, and H. Wang.
ICRA, 2022.
- 2022JournalResidual 3D Scene Flow Learning with Context-Aware Feature Extraction
G. Wang, Y. Hu, X. Wu, and H. Wang.
IEEE Transactions on Instrumentation and Measurement, 2022.
- 2022JournalSFGAN: Unsupervised Generative Adversarial Learning of 3D Scene Flow from the 3D Scene Self
G. Wang, C. Jiang, Z. Shen, Y. Miao, and H. Wang.
Advanced Intelligent Systems, 2022.
2021-2019
Earlier papers.
- 2021JournalSpherical Interpolated Convolutional Network with Distance-Feature Density for 3D Semantic Segmentation of Point Clouds
G. Wang, Y. Yang, H. Zhang, Z. Liu, and H. Wang.
IEEE Transactions on Cybernetics, 2021.
- 2021JournalAnchor-Based Spatio-Temporal Attention 3D Convolutional Networks for Dynamic 3D Point Cloud Sequences
G. Wang, H. Liu, M. Chen, Y. Yang, Z. Liu, and H. Wang.
IEEE Transactions on Instrumentation and Measurement, 2021.
- 2021ConferenceUnsupervised Learning of 3D Scene Flow from Monocular Camera
G. Wang, X. Tian, R. Ding, and H. Wang.
ICRA, 2021.
- 2021JournalHierarchical Attention Learning of Scene Flow in 3D Point Clouds
G. Wang, X. Wu, Z. Liu, and H. Wang.
IEEE Transactions on Image Processing, 2021.
- 2021ConferencePWCLO-Net: Deep LiDAR Odometry in 3D Point Clouds Using Hierarchical Embedding Mask Optimization
G. Wang, X. Wu, Z. Liu, and H. Wang.
CVPR, 2021.
- 2020JournalUnsupervised Learning of Depth, Optical Flow and Pose with Occlusion from 3D Geometry
G. Wang, C. Zhang, H. Wang, J. Wang, Y. Wang, and X. Wang.
IEEE Transactions on Intelligent Transportation Systems, 2020.
- 2019ConferenceUnsupervised Learning of Monocular Depth and Ego-Motion Using Multiple Masks
G. Wang, H. Wang, Y. Liu, and W. Chen.
ICRA, 2019.