Dr. Yuxiang Sun (Chinese: 孫宇翔)

yuxiang_sun 

Research Assistant Professor
Department of Mechanical Engineering
The Hong Kong Polytechnic University
Address: FJ606, Chan Tai Ho Building,
HK PolyU, Hung Hom, Kowloon, Hong Kong.
Tel: (852) 3400-2556, Fax: (852) 2365-4703
Email: yx.sun@polyu.edu.hk, sun.yuxiang@outlook.com

2022/2023 Hong Kong PhD Fellowship Scheme (HKPFS)
Multiple positions for PhD student, Research Assistant, Postdoctoral Fellows and Joint PhD student are available. Undergraduate and MSc students seeking project/dissertation supervision are welcome. Visiting students and scholars are also welcome. please feel free to contact me.

Biography

I am currently a research assistant professor at the Department of Mechanical Engineering, The Hong Kong Polytechnic University (HK PolyU). Prior to this, I worked as a research associate with Prof. Ming Liu, at the Robotics Institute, Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology (HKUST). I received the Ph.D degree from The Chinese University of Hong Kong (CUHK) under the supervision of Prof. Max Qing-Hu Meng in 2017, the master's degree from the University of Science and Technology of China (USTC) in 2012, and the bachelor's degree from Hefei University of Technology (HFUT) in 2009. My first-author Robotics and Autonomous Systems (RAS) papers published in 2017 and 2018 respectively ranked No.1 and No.2 in the most cited articles of recent three years in this journal. My first-author IEEE Robotics and Automation Letters (RAL) paper published in 2019 was identified as one of the popular articles in this journal. My co-authored RAL paper published in 2019 was also identified as popular article in this journal. I received the Best Paper award at the IEEE-ROBIO 2019 conference, and the Best Student Paper Finalist award at the IEEE-ROBIO 2015 conference, both as the first author. I am the PI of an NSFC Young Scientists Fund project, and have participated in many Hong Kong and China Mainland projects, such as RGC-CRF, ITF, NSFC, etc. I serve as an associate editor of IEEE Robotics and Automation Letters (RAL), and IEEE International Conference on Robotics and Automation (ICRA), which are one of the top-tier international journals and conferences in the field of robotics and automation. I also serve as a lead guest editor of a JCI Q2 journal Frontiers in Robotics and AI. I am a reviewer for many prestigious journals and conferences, such as TRO, RAL, TASE, TITS, IJCV, TNNLS, TCSVT, TMM, PR, ICRA, IROS, etc. My research group at PolyU currently has 1 Postdoc Fellow, 5 PhD students and 2 Master students. One PhD student successfully won the highly-competitive Hong Kong PhD Fellowship Scheme (HKPFS) award in the 2021/2022 academic year.

Research Interests

Autonomous Driving, Robotics and Artificial Intelligence, Deep Learning, Robotic Perception, Autonomous Navigation, Localization and Mapping, Mobile Robots, Unmanned Systems, Quadruped Robots, Advanced Driver Assistance Systems, Semantic Scene Understanding, Reinforcement Learning, Imitation Learning, End-to-End Control, Trajectory Planning and Prediction, etc.

News

  • Sep. 2021: I was appointed as an Associate Editor of IEEE International Conference on Robotics and Automation (ICRA).

  • Jul. 2021: I was appointed as an Associate Editor of IEEE Robotics and Automation Letters (RAL).

  • Jun. 2021: I was invited as a reviewer for Shenzhen Science and Technology Innovation Commission Projects (深圳科创委项目评审专家).

  • Apr. 2021: Congratulations to Weixin Ma for winning the Hong Kong PhD Fellowship Scheme (HKPFS) award (HK$26,600/month during the entire PhD study period)!

  • Mar. 2021: I serve as a lead guest editor of a JCI Q2 journal Frontiers in Robotics and AI.

  • Jan. 2021: My first-author RAS paper published in 2018 ranked No.2 in the most cited articles of recent three years in this journal.

  • Dec. 2020: My first-author RAL paper published in 2019 was identified as one of the popular articles in this journal.

  • Dec. 2020: I was invited as a reviewer for NSFC projects (国家自然科学基金项目评审专家).

  • Feb. 2020: My first-author RAS paper published in 2017 ranked No.1 in the most cited articles of recent three years in this journal.

  • Dec. 2019: I received the Best Paper award at the 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) as the first author.

  • Mar. 2019: My co-authored RAL paper published in 2019 was identified as one of the popular articles in this journal.

Selected Grants

  • PI: Young Scientists Fund, The National Natural Science Foundation of China (NSFC) (国家自然科学基金青年科学基金项目), CNY 240,000.00, Jan. 2021 - Dec. 2023.

  • PI: Start-up Fund, The Hong Kong Polytechnic University (HK PolyU), HKD 500,000.00, Nov. 2020 - Nov. 2023.

Selected Publications:

  1. Yuxiang Sun, Weixun Zuo, Huaiyang Huang, Peide Cai, and Ming Liu, “PointMoSeg: Sparse Tensor-Based End-to-End Moving-Obstacle Segmentation in 3-D Lidar Point Clouds for Autonomous Driving,” IEEE Robotics and Automation Letters (RAL), vol. 6, no. 2, pp. 510–517, 2021. Bibtex PDF

  2. Qing Liang, Yuxiang Sun, Lujia Wang, and Ming Liu, “A Novel Inertial-aided Visible Light Positioning System using Modulated LEDs and Unmodulated Lights as Landmarks,” IEEE Transactions on Automation Science and Engineering (TASE), 2021.

  3. Qing Liang, Yuxiang Sun, Chengju Liu, Lujia Wang and Ming Liu, “LedMapper: Towards Efficient and Accurate LED Mapping for Visible Light Positioning at Scale,” IEEE Transactions on Instrumentation and Measurement (TIM), 2021.

  4. Huaiyang Huang, Yuxiang Sun, Jin Wu, Jianhao Jiao, Xiangcheng Hu, Linwei Zheng, Lujia Wang, and Ming Liu, “On Bundle Adjustment for Multiview Point Cloud Registration,” IEEE Robotics and Automation Letters (RAL), vol. 6, no. 4, pp. 8269–8276, 2021. Bibtex PDF

  5. Zhenhua Xu, Yuxiang Sun, and Ming Liu, “Topo-Boundary: A Benchmark Dataset on Topological Road-Boundary Detection Using Aerial Images for Autonomous Driving,” IEEE Robotics and Automation Letters (RAL), vol. 6, no. 4, pp. 7248–7255, 2021. Bibtex PDF Code

  6. Xuebin Sun, Yuxiang Sun, Weixun Zuo, Shing Shin Cheng, and Ming Liu, “A Novel Coding Scheme for Large-Scale Point Cloud Sequences Based on Clustering and Registration,” IEEE Transactions on Automation Science and Engineering (TASE), 2021. Bibtex PDF

  7. Zhenhua Xu, Yuxiang Sun, and Ming Liu, “iCurb: Imitation Learning-Based Detection of Road Curbs Using Aerial Images for Autonomous Driving,” IEEE Robotics and Automation Letters (RAL), vol. 6, no. 2, pp. 1097–1104, 2021. Bibtex Video PDF

  8. Peide Cai, Yuxiang Sun, Hengli Wang, and Ming Liu, “VTGNet: A Vision-Based Trajectory Generation Network for Autonomous Vehicles in Urban Environments,” IEEE Transactions on Intelligent Vehicles (TIV), vol. 6, no. 3, pp. 419–429, 2021. Bibtex PDF

  9. Qi Chen, Yuxiang Sun, Min Zhao, and Ming Liu, “Consensus-Based Cooperative Formation Guidance Strategy for Multiparafoil Airdrop Systems,” IEEE Transactions on Automation Science and Engineering (TASE), vol. 18, no. 4, pp. 2175–2184, 2021. Bibtex PDF

  10. Huaiyang Huang, Haoyang Ye, Yuxiang Sun, Lujia Wang, and Ming Liu, “Incorporating learnt local and global embeddings into monocular visual SLAM,” Autonomous Robots (AURO), 2021. PDF

  11. Hengli Wang, Rui Fan, Yuxiang Sun, and Ming Liu, “Dynamic Fusion Module Evolves Drivable Area and Road Anomaly Detection: A Benchmark and Algorithms,” IEEE Transactions on Cybernetics (TCYBER), 2021. Bibtex PDF

  12. Zhenhua Xu, Yuxiang Sun, Lujia Wang, and Ming Liu, “CP-loss: Connectivity-preserving Loss for Road Curb Detection in Autonomous Driving with Aerial Images,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. PDF

  13. Peide Cai, Hengli Wang, Yuxiang Sun, and Ming Liu, “DiGNet: Learning Scalable Self-Driving Policies for Generic Traffic Scenarios with Graph Neural Networks,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. PDF

  14. Hengli Wang, Yuxiang Sun, Rui Fan, and Ming Liu, “S2P2: Self-Supervised Goal-Directed Path Planning using RGB-D Data for Robotic Wheelchairs,” in 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021. PDF

  15. Hengli Wang, Peide Cai, Yuxiang Sun, Lujia Wang, and Ming Liu, “Learning Interpretable End-to-End Vision-based Motion Planning for Autonomous Driving with Optical Flow Distillation,” in 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021. PDF

  16. Hengli Wang, Peide Cai, Rui Fan, Yuxiang Sun, and Ming Liu, “End-to-End Interactive Prediction and Planning With Optical Flow Distillation for Autonomous Driving,” in Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, Jun. 2021, pp. 2229–2238. Bibtex PDF

  17. Tianyu Liu, Qinghai Liao, Lu Gan, Fulong Ma, Jie Cheng, Xupeng Xie, Zhe Wang, Yingbing Chen, Yilong Zhu, Shuyang Zhang, Zhengyong Chen, Yang Liu, Meng Xie, Yang Yu, Zitong Guo, Guang Li, Peidong Yuan, Dong Han, Yuying Chen, Haoyang Ye, Jianhao Jiao, Peng Yun, Zhenhua Xu, Hengli Wang, Huaiyang Huang, Sukai Wang, Peide Cai, Yuxiang Sun, Yandong Liu, Lujia Wang, and Ming Liu, “The role of the hercules autonomous vehicle during the covid-19 pandemic: An autonomous logistic vehicle for contactless goods transportation,” IEEE Robotics and Automation Magazine (RAM), vol. 28, no. 1, pp. 48–58, 2021. Bibtex Video PDF

  18. Yuxiang Sun, Weixun Zuo, Peng Yun, Hengli Wang, and Ming Liu, “FuseSeg: Semantic Segmentation of Urban Scenes Based on RGB and Thermal Data Fusion,” IEEE Transactions on Automation Science and Engineering (TASE), vol. 18, no. 3, pp. 1000–1011, 2021. Bibtex Video PDF

  19. Yuxiang Sun, Weixun Zuo, and Ming Liu, “See the Future: A Semantic Segmentation Network Predicting Ego-Vehicle Trajectory With a Single Monocular Camera,” IEEE Robotics and Automation Letters (RAL), vol. 5, no. 2, pp. 3066–3073, 2020. Bibtex Video PDF

  20. Huaiyang Huang, Haoyang Ye, Yuxiang Sun, and Ming Liu, “GMMLoc: Structure Consistent Visual Localization With Gaussian Mixture Models,” IEEE Robotics and Automation Letters (RAL), vol. 5, no. 4, pp. 5043–5050, 2020. Code Bibtex Video PDF

  21. Peide Cai, Sukai Wang, Yuxiang Sun, and Ming Liu, “Probabilistic End-to-End Vehicle Navigation in Complex Dynamic Environments With Multimodal Sensor Fusion,” IEEE Robotics and Automation Letters (RAL), vol.5, no.3, pp.4218–4224, 2020. Bibtex Page Video PDF

  22. Sukai Wang, Yuxiang Sun, Chengju Liu, and Ming Liu, “PointTrackNet: An End-to-End Network For 3-D Object Detection and Tracking From Point Clouds,” IEEE Robotics and Automation Letters (RAL), vol. 5, no. 2, pp. 3206–3212, 2020. Bibtex Video PDF

  23. Peide Cai, Xiaodong Mei, Lei Tai, Yuxiang Sun, and Ming Liu, “High-Speed Autonomous Drifting With Deep Reinforcement Learning,” IEEE Robotics and Automation Letters (RAL), vol. 5, no. 2, pp. 1247–1254, 2020. Code Bibtex Video PDF

  24. Jin Wu, Yuxiang Sun, Miaomiao Wang, and Ming Liu, “Hand-Eye Calibration: 4-D Procrustes Analysis Approach,” IEEE Transactions on Instrumentation and Measurement (TIM), vol. 69, no. 6, pp. 2966–2981, 2020. Code Bibtex Video PDF

  25. Hengli Wang, Rui Fan, Yuxiang Sun, and Ming Liu, “Applying Surface Normal Information in Drivable Area and Road Anomaly Detection for Ground Mobile Robots,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 2706–2711. Bibtex Dataset PDF

  26. Huaiyang Huang, Haoyang Ye, Yuxiang Sun, and Ming Liu, “Monocular Visual Odometry using Learned Repeatability and Description,” in 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 8913–8919. Bibtex Video PDF

  27. Yuxiang Sun, Weixun Zuo, and Ming Liu, “RTFNet: RGB-Thermal Fusion Network for Semantic Segmentation of Urban Scenes,” IEEE Robotics and Automation Letters (RAL), vol. 4, no. 3, pp. 2576–2583, 2019. Code Bibtex PDF (Popular Article in RAL!)

  28. Yuxiang Sun, Ming Liu, and Max Qing-Hu Meng, “Active Perception for Foreground Segmentation: An RGB-D Data-Based Background Modeling Method,” IEEE Transactions on Automation Science and Engineering (TASE), vol. 16, no. 4, pp. 1596–1609, 2019. Bibtex Video PDF

  29. Yuxiang Sun, Lujia Wang, Yongquan Chen, and Ming Liu, “Accurate Lane Detection with Atrous Convolution and Spatial Pyramid Pooling for Autonomous Driving,” in 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec. 2019, pp. 642–647. Bibtex PDF (Best Paper in Robotics!)

  30. Hengli Wang, Yuxiang Sun, and Ming Liu, “Self-Supervised Drivable Area and Road Anomaly Segmentation Using RGB-D Data For Robotic Wheelchairs,” IEEE Robotics and Automation Letters (RAL), vol. 4, no. 4, pp. 4386–4393, 2019. Bibtex PDF

  31. Xuebin Sun, Han Ma, Yuxiang Sun, and Ming Liu, “A Novel Point Cloud Compression Algorithm Based On Clustering,” IEEE Robotics and Automation Letters (RAL), vol. 4, no. 2, pp. 2132–2139, 2019. Bibtex PDF (Popular Article in RAL!)

  32. Chaoqun Wang, Wenzheng Chi, Yuxiang Sun, and Max Qing-Hu Meng, “Autonomous Robotic Exploration by Incremental Road Map Construction,” IEEE Transactions on Automation Science and Engineering (TASE), vol. 16, no. 4, pp. 1720–1731, 2019. Bibtex Video PDF

  33. Huaiyang Huang, Yuxiang Sun, Haoyang Ye, and Ming Liu, “Metric Monocular Localization Using Signed Distance Fields,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov. 2019, pp. 1195–1201. Bibtex PDF

  34. Yuxiang Sun, Ming Liu, and Max Qing-Hu Meng, “Motion removal for reliable RGB-D SLAM in dynamic environments,” Robotics and Autonomous Systems (RAS), vol. 108, pp. 115–128, 2018. Bibtex Video PDF (Ranked No.2 in the most cited articles of recent three years in this journal!)

  35. Yuxiang Sun, Ming Liu, and Max Qing-Hu Meng, “Improving RGB-D SLAM in dynamic environments: A motion removal approach,” Robotics and Autonomous Systems (RAS), vol. 89, pp. 110–122, 2017. Bibtex PDF (Ranked No.1 in the most cited articles of recent three years in this journal!)

  36. Yuxiang Sun, Ming Liu, and Max Qing-Hu Meng, “Motion removal from moving platforms: An RGB-D data-based motion detection, tracking and segmentation approach,” in 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec. 2015, pp. 1377–1382. Bibtex PDF (Best Student Paper Finalist!)