Junyi Geng

46 papers A* 5A 3C 1Journal 34Unranked 3
YearRankTypeTitle / Venue / Authors
2026 J jnl
Aerial Manipulation with Contact-Aware Onboard Perception and Hybrid Control.
CoRR
Yuanzhu Zhan, Yufei Jiang, Muqing Cao, Junyi Geng
2026 J jnl
Distributed State Estimation for Vision-Based Cooperative Slung Load Transportation in GPS-Denied Environments.
CoRR
Jack R. Pence, Jackson Fezell, Jack W. Langelaan, Junyi Geng
2026 J jnl
Physics-infused Learning for Aerial Manipulator in Winds and Near-Wall Environments.
CoRR
Yiming Zhang, Junyi Geng
2025 J jnl
A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning.
CoRR
Yufei Jiang, Yuanzhu Zhan, Harsh Vardhan Gupta, Chinmay Borde, Junyi Geng
2025 J jnl
AirIO: Learning Inertial Odometry With Enhanced IMU Feature Observability.
IEEE Robotics Autom. Lett.
Yuheng Qiu, Can Xu, Yutian Chen, Shibo Zhao, Junyi Geng, Sebastian A. Scherer
2025 J jnl
AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability.
CoRR
Yuheng Qiu, Can Xu, Yutian Chen, Shibo Zhao, Junyi Geng, Sebastian A. Scherer
2025 J jnl
Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning.
CoRR
Guanqi He, Xiaofeng Guo, Luyi Tang, Yuanhang Zhang, Mohammadreza Mousaei, Jiahe Xu, Junyi Geng, Sebastian A. Scherer, Guanya Shi
2025 — conf
Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control.
L4DC
Haonan He, Yuheng Qiu, Junyi Geng
2025 J jnl
Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control.
CoRR
Haonan He, Yuheng Qiu, Junyi Geng
2025 A* conf
iKap: Kinematics-Aware Planning with Imperative Learning.
ICRA
Qihang Li, Zhuoqun Chen, Haoze Zheng, Haonan He, Zitong Zhan, Shaoshu Su, Junyi Geng, Chen Wang
2024 J jnl
A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning.
CoRR
Qizhao Chen, Ziqi Hu, Junyi Geng, Dongwei Bai, Mohammadreza Mousaei, Sebastian A. Scherer
2024 A* conf
Aerial Interaction with Tactile Sensing.
ICRA
Xiaofeng Guo, Guanqi He, Mohammadreza Mousaei, Junyi Geng, Guanya Shi, Sebastian A. Scherer
2024 J jnl
Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation.
CoRR
Xiaofeng Guo, Guanqi He, Jiahe Xu, Mohammadreza Mousaei, Junyi Geng, Sebastian A. Scherer, Guanya Shi
2024 J jnl
Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation.
IEEE Robotics Autom. Lett.
Xiaofeng Guo, Guanqi He, Jiahe Xu, Mohammadreza Mousaei, Junyi Geng, Sebastian A. Scherer, Guanya Shi
2024 J jnl
Imperative Learning: A Self-supervised Neural-Symbolic Learning Framework for Robot Autonomy.
CoRR
Chen Wang, Kaiyi Ji, Junyi Geng, Zhongqiang Ren, Taimeng Fu, Fan Yang, Yifan Guo, Haonan He, Xiangyu Chen, Zitong Zhan, Qiwei Du, Shaoshu Su, Bowen Li, Yuheng Qiu, Yi Du, Qihang Li, Yifan Yang, Xiao Lin, Zhipeng Zhao
2024 J jnl
iKap: Kinematics-aware Planning with Imperative Learning.
CoRR
Qihang Li, Zhuoqun Chen, Haoze Zheng, Haonan He, Shaoshu Su, Junyi Geng, Chen Wang
2023 J jnl
Aerial Interaction with Tactile Sensing.
CoRR
Xiaofeng Guo, Guanqi He, Mohammadreza Mousaei, Junyi Geng, Guanya Shi, Sebastian A. Scherer
2023 C conf
Decentralized Formation Control With Prescribed Distance Constraints and Shape Uniqueness.
ACC
Yuqi Pan, Binglin He, Junyi Geng, Yang Wang
2023 A* conf
Hierarchical Intention Tracking for Robust Human-Robot Collaboration in Industrial Assembly Tasks.
ICRA
Zhe Huang, Ye-Ji Mun, Xiang Li, Yiqing Xie, Ninghan Zhong, Weihang Liang, Junyi Geng, Tan Chen, Katherine Rose Driggs-Campbell
2023 A conf
Image-Based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV.
IROS
Guanqi He, Yash Jangir, Junyi Geng, Mohammadreza Mousaei, Dongwei Bai, Sebastian A. Scherer
2023 J jnl
Image-based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV.
CoRR
Guanqi He, Yash Jangir, Junyi Geng, Mohammadreza Mousaei, Dongwei Bai, Sebastian A. Scherer
2023 A* conf
Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graph.
ICRA
Shuijing Liu, Peixin Chang, Zhe Huang, Neeloy Chakraborty, Kaiwen Hong, Weihang Liang, D. Livingston McPherson, Junyi Geng, Katherine Rose Driggs-Campbell
2023 — conf
Learning Koopman Operators with Control Using Bi-Level Optimization.
CDC
Daning Huang, Muhammad Bayu Prasetyo, Yin Yu, Junyi Geng
2023 J jnl
Learning Koopman Operators with Control Using Bi-level Optimization.
CoRR
Abhinav Pandey, Daning Huang, Yin Yu, Junyi Geng
2023 J jnl
Off-Policy Evaluation With Online Adaptation for Robot Exploration in Challenging Environments.
IEEE Robotics Autom. Lett.
Yafei Hu, Junyi Geng, Chen Wang, John Keller, Sebastian A. Scherer
2023 J jnl
PyPose v0.6: The Imperative Programming Interface for Robotics.
CoRR
Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, Abhinav Pandey, Haitao Xiao, Yangmengfei Xu, Xiangyu Chen, Kuan Xu, Kun Cao, Zhipeng Zhao, Zihan Wang, Huan Xu, Zihang Fang, Yutian Chen, Wentao Wang, Xu Fang, Yi Du, Tianhao Wu, Xiao Lin, Yuheng Qiu, Fan Yang, Jingnan Shi, Shaoshu Su, Yiren Lu, Taimeng Fu, Karthik Dantu, Jiajun Wu, Lihua Xie, Marco Hutter, Luca Carlone, Sebastian A. Scherer, Daning Huang, Yaoyu Hu, Junyi Geng, Chen Wang
2023 A* conf
PyPose: A Library for Robot Learning with Physics-based Optimization.
CVPR
Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Kun Cao, Yi Du, Han Wang, Huai Yu, Shanzhao Wang, Siyu Chen, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Lihua Xie, Luca Carlone, Marco Hutter, Sebastian A. Scherer
2023 J jnl
The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales.
CoRR
Minh Q. Ta, Holly Dinkel, Hameed Abdul-Rashid, Yangfei Dai, Jessica Myers, Tan Chen, Junyi Geng, Timothy Bretl
2022 A conf
Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure.
IROS
Mohammadreza Mousaei, Junyi Geng, Azarakhsh Keipour, Dongwei Bai, Sebastian A. Scherer
2022 J jnl
Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure.
CoRR
Mohammadreza Mousaei, Junyi Geng, Azarakhsh Keipour, Dongwei Bai, Sebastian A. Scherer
2022 J jnl
Hierarchical Intention Tracking for Robust Human-Robot Collaboration in Industrial Assembly Tasks.
CoRR
Zhe Huang, Ye-Ji Mun, Xiang Li, Yiqing Xie, Ninghan Zhong, Weihang Liang, Junyi Geng, Tan Chen, Katherine Driggs-Campbell
2022 J jnl
Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration.
CoRR
Tan Chen, Zhe Huang, James Motes, Junyi Geng, Quang Minh Ta, Holly Dinkel, Hameed Abdul-Rashid, Jessica Myers, Ye-Ji Mun, Wei-che Lin, Yuan-yung Huang, Sizhe Liu, Marco Morales, Nancy M. Amato, Katherine Rose Driggs-Campbell, Timothy Bretl
2022 J jnl
Load-Distribution-Based Trajectory Planning and Control for a Multilift System.
J. Aerosp. Inf. Syst.
Junyi Geng, Puneet Singla, Jack W. Langelaan
2022 J jnl
PyPose: A Library for Robot Learning with Physics-based Optimization.
CoRR
Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Han Wang, Huai Yu, Shanzhao Wang, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Luca Carlone, Marco Hutter, Sebastian A. Scherer
2022 J jnl
Robotic Depowdering for Additive Manufacturing Via Pose Tracking.
IEEE Robotics Autom. Lett.
Zhenwei Liu, Junyi Geng, Xikai Dai, Tomasz Swierzewski, Kenji Shimada
2022 J jnl
Robotic Depowdering for Additive Manufacturing via Pose Tracking.
CoRR
Zhenwei Liu, Junyi Geng, Xikai Dai, Tomasz Swierzewski, Kenji Shimada
2022 — conf
Robust Output Feedback MPC with Reduced Conservatism under Ellipsoidal Uncertainty.
CDC
Tianchen Ji, Junyi Geng, Katherine Driggs-Campbell
2022 J jnl
Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration.
CoRR
Zhe Huang, Ye-Ji Mun, Xiang Li, Yiqing Xie, Ninghan Zhong, Weihang Liang, Junyi Geng, Tan Chen, Katherine Rose Driggs-Campbell
2022 J jnl
Socially Aware Robot Crowd Navigation with Interaction Graphs and Human Trajectory Prediction.
CoRR
Shuijing Liu, Peixin Chang, Zhe Huang, Neeloy Chakraborty, Weihang Liang, Junyi Geng, Katherine Rose Driggs-Campbell
2022 J jnl
UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction.
CoRR
Azarakhsh Keipour, Mohammadreza Mousaei, Dongwei Bai, Junyi Geng, Sebastian A. Scherer
2022 J jnl
VTOL Failure Detection and Recovery by Utilizing Redundancy.
CoRR
Mohammadreza Mousaei, Azarakhsh Keipour, Junyi Geng, Sebastian A. Scherer
2022 J jnl
iCaps: Iterative Category-Level Object Pose and Shape Estimation.
IEEE Robotics Autom. Lett.
Xinke Deng, Junyi Geng, Timothy Bretl, Yu Xiang, Dieter Fox
2022 J jnl
iCaps: Iterative Category-level Object Pose and Shape Estimation.
CoRR
Xinke Deng, Junyi Geng, Timothy Bretl, Yu Xiang, Dieter Fox
2020 A conf
Bio-inspired Inverted Landing Strategy in a Small Aerial Robot Using Policy Gradient.
IROS
Pan Liu, Junyi Geng, Yixian Li, Yanran Cao, Yagiz E. Bayiz, Jack W. Langelaan, Bo Cheng
2020 J jnl
Efficient and Interpretable Deep Blind Image Deblurring Via Algorithm Unrolling.
IEEE Trans. Computational Imaging
Yuelong Li, Mohammad Tofighi, Junyi Geng, Vishal Monga, Yonina C. Eldar
2019 J jnl
An Algorithm Unrolling Approach to Deep Blind Image Deblurring.
CoRR
Yuelong Li, Mohammad Tofighi, Junyi Geng, Vishal Monga, Yonina C. Eldar