Yupeng Zheng

57 papers A* 9Journal 44Unranked 4
YearRankTypeTitle / Venue / Authors
2026 J jnl
DreamerAD: Efficient Reinforcement Learning via Latent World Model for Autonomous Driving.
CoRR
Pengxuan Yang, Yupeng Zheng, Deheng Qian, Zebin Xing, Qichao Zhang, Linbo Wang, Yichen Zhang, Shaoyu Guo, Zhongpu Xia, Qiang Chen, Junyu Han, Lingyun Xu, Yifeng Pan, Dongbin Zhao
2026 J jnl
Enhancing Indoor Occupancy Prediction via Sparse Query-Based Multi-Level Consistent Knowledge Distillation.
CoRR
Xiang Li, Yupeng Zheng, Pengfei Li, Yilun Chen, Ya-Qin Zhang, Wenchao Ding
2026 J jnl
Latent-WAM: Latent World Action Modeling for End-to-End Autonomous Driving.
CoRR
Linbo Wang, Yupeng Zheng, Qiang Chen, Shiwei Li, Yichen Zhang, Zebin Xing, Qichao Zhang, Xiang Li, Deheng Qian, Pengxuan Yang, Yihang Dong, Ce Hao, Xiaoqing Ye, Junyu Han, Yifeng Pan, Dongbin Zhao
2026 J jnl
Learning from Mistakes: Post-Training for Driving VLA with Takeover Data.
CoRR
Yinfeng Gao, Deqing Liu, Qichao Zhang, Yupeng Zheng, Haochen Tian, Guang Li, Hangjun Ye, Long Chen, Da-Wei Ding, Dongbin Zhao
2026 J jnl
Mimir: Hierarchical Goal-Driven Diffusion With Uncertainty Propagation for End-to-End Autonomous Driving.
IEEE Robotics Autom. Lett.
Zebin Xing, Yupeng Zheng, Qichao Zhang, Zhixing Ding, Pengxuan Yang, Songen Gu, Zhongpu Xia, Dongbin Zhao
2026 J jnl
OccTENS: 3D Occupancy World Model via Temporal Next-Scale Prediction.
IEEE Robotics Autom. Lett.
Bu Jin, Songen Gu, Xiaotao Hu, Yupeng Zheng, Xiaoyang Guo, Qian Zhang, Xiaoxiao Long, Wei Yin
2026 J jnl
OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation.
CoRR
Yuhang Zheng, Songen Gu, Weize Li, Yupeng Zheng, Yujie Zang, Shuai Tian, Xiang Li, Ce Hao, Chen Gao, Si Liu, Haoran Li, Yilun Chen, Shuicheng Yan, Wenchao Ding
2026 J jnl
Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids.
CoRR
Hongjin Chen, Wei Zhang, Pengfei Li, Shihao Ma, Ke Ma, Yujie Jin, Zijun Xu, Xiaohui Wang, Yupeng Zheng, Zining Wang, Jieru Zhao, Yilun Chen, Wenchao Ding
2026 J jnl
TakeAD: Preference-Based Post-Optimization for End-to-End Autonomous Driving With Expert Takeover Data.
IEEE Robotics Autom. Lett.
Deqing Liu, Yinfeng Gao, Deheng Qian, Qichao Zhang, Xiaoqing Ye, Junyu Han, Yupeng Zheng, Xueyi Liu, Zhongpu Xia, Dawei Ding, Yifeng Pan, Dongbin Zhao
2026 J jnl
Towards Long-Lived Robots: Continual Learning VLA Models via Reinforcement Fine-Tuning.
CoRR
Yuan Liu, Haoran Li, Shuai Tian, Yuxing Qin, Yuhui Chen, Yupeng Zheng, Yongzhen Huang, Dongbin Zhao
2026 A* conf
WorldRFT: Latent World Model Planning with Reinforcement Fine-Tuning for Autonomous Driving.
AAAI
Pengxuan Yang, Ben Lu, Zhongpu Xia, Chao Han, Yinfeng Gao, Teng Zhang, Kun Zhan, Xianpeng Lang, Yupeng Zheng, Qichao Zhang
2025 J jnl
Enhancing Indoor Occupancy Prediction via Sparse Query-Based Multi-Level Consistent Knowledge Distillation.
IEEE Robotics Autom. Lett.
Xiang Li, Yupeng Zheng, Pengfei Li, Yilun Chen, Ya-Qin Zhang, Wenchao Ding
2025 — conf
Hybrid Constellation Modulation for Symbol-Level Precoding in RIS-Enhanced MU-MISO Systems.
SPAWC
Yupeng Zheng, Yi Ma, Rahim Tafazolli
2025 J jnl
LiloDriver: A Lifelong Learning Framework for Closed-loop Motion Planning in Long-tail Autonomous Driving Scenarios.
CoRR
Huaiyuan Yao, Pengfei Li, Bu Jin, Yupeng Zheng, An Liu, Lisen Mu, Qing Su, Qian Zhang, Yilun Chen, Peng Li
2025 J jnl
Mimir: Hierarchical Goal-Driven Diffusion with Uncertainty Propagation for End-to-End Autonomous Driving.
CoRR
Zebin Xing, Yupeng Zheng, Qichao Zhang, Zhixing Ding, Pengxuan Yang, Songen Gu, Zhongpu Xia, Dongbin Zhao
2025 J jnl
OccTENS: 3D Occupancy World Model via Temporal Next-Scale Prediction.
CoRR
Bu Jin, Songen Gu, Xiaotao Hu, Yupeng Zheng, Xiaoyang Guo, Qian Zhang, Xiaoxiao Long, Wei Yin
2025 J jnl
ReasonPlan: Unified Scene Prediction and Decision Reasoning for Closed-loop Autonomous Driving.
CoRR
Xueyi Liu, Zuodong Zhong, Yuxin Guo, Yun-Fu Liu, Zhiguo Su, Qichao Zhang, Junli Wang, Yinfeng Gao, Yupeng Zheng, Qiao Lin, Huiyong Chen, Dongbin Zhao
2025 A* conf
Semi-Supervised Vision-Centric 3D Occupancy World Model for Autonomous Driving.
ICLR
Xiang Li, Pengfei Li, Yupeng Zheng, Wei Sun, Yan Wang, Yilun Chen
2025 J jnl
Semi-Supervised Vision-Centric 3D Occupancy World Model for Autonomous Driving.
CoRR
Xiang Li, Pengfei Li, Yupeng Zheng, Wei Sun, Yan Wang, Yilun Chen
2025 J jnl
TakeAD: Preference-based Post-optimization for End-to-end Autonomous Driving with Expert Takeover Data.
CoRR
Deqing Liu, Yinfeng Gao, Deheng Qian, Qichao Zhang, Xiaoqing Ye, Junyu Han, Yupeng Zheng, Xueyi Liu, Zhongpu Xia, Dawei Ding, Yifeng Pan, Dongbin Zhao
2025 J jnl
TrajMoE: Scene-Adaptive Trajectory Planning with Mixture of Experts and Reinforcement Learning.
CoRR
Zebin Xing, Pengxuan Yang, Linbo Wang, Yichen Zhang, Yiming Hu, Yupeng Zheng, Junli Wang, Yinfeng Gao, Guang Li, Kun Ma, Long Chen, Zhongpu Xia, Qichao Zhang, Hangjun Ye, Dongbin Zhao
2025 A* conf
UncAD: Towards Safe End-to-end Autonomous Driving via Online Map Uncertainty.
ICRA
Pengxuan Yang, Yupeng Zheng, Qichao Zhang, Kefei Zhu, Zebin Xing, Qiao Lin, Yun-Fu Liu, Zhiguo Su, Dongbin Zhao
2025 J jnl
UncAD: Towards Safe End-to-end Autonomous Driving via Online Map Uncertainty.
CoRR
Pengxuan Yang, Yupeng Zheng, Qichao Zhang, Kefei Zhu, Zebin Xing, Qiao Lin, Yun-Fu Liu, Zhiguo Su, Dongbin Zhao
2025 J jnl
UniArt: Unified 3D Representation for Generating 3D Articulated Objects with Open-Set Articulation.
CoRR
Bu Jin, Weize Li, Songen Gu, Yupeng Zheng, Yuhang Zheng, Zhengyi Zhou, Yao Yao
2025 J jnl
World In Your Hands: A Large-Scale and Open-source Ecosystem for Learning Human-centric Manipulation in the Wild.
CoRR
TARS Robotics, Yupeng Zheng, Jichao Peng, Weize Li, Yuhang Zheng, Xiang Li, Yujie Jin, Julong Wei, Guanhua Zhang, Ruiling Zheng, Ming Cao, Songen Gu, Zhenhong Zou, Kaige Li, Ke Wu, Mingmin Yang, Jiahao Liu, Pengfei Li, Hengjie Si, Feiyu Zhu, Wang Fu, Likun Wang, Ruiwen Yao, Jieru Zhao, Yilun Chen, Wenchao Ding
2025 J jnl
World4Drive: End-to-End Autonomous Driving via Intention-aware Physical Latent World Model.
CoRR
Yupeng Zheng, Pengxuan Yang, Zebin Xing, Qichao Zhang, Yuhang Zheng, Yinfeng Gao, Pengfei Li, Teng Zhang, Zhongpu Xia, Peng Jia, Dongbin Zhao
2025 J jnl
World4RL: Diffusion World Models for Policy Refinement with Reinforcement Learning for Robotic Manipulation.
CoRR
Zhennan Jiang, Kai Liu, Yuxin Qin, Shuai Tian, Yupeng Zheng, Mingcai Zhou, Chao Yu, Haoran Li, Dongbin Zhao
2025 J jnl
WorldRFT: Latent World Model Planning with Reinforcement Fine-Tuning for Autonomous Driving.
CoRR
Pengxuan Yang, Ben Lu, Zhongpu Xia, Chao Han, Yinfeng Gao, Teng Zhang, Kun Zhan, Xianpeng Lang, Yupeng Zheng, Qichao Zhang
2024 J jnl
A parallelly contextual convolutional transformer for medical image segmentation.
Biomed. Signal Process. Control.
Yuncong Feng, Jianyu Su, Jian Zheng, Yupeng Zheng, Xiaoli Zhang
2024 J jnl
Adaptive Surface Normal Constraint for Geometric Estimation From Monocular Images.
IEEE Trans. Pattern Anal. Mach. Intell.
Xiaoxiao Long, Yuhang Zheng, Yupeng Zheng, Beiwen Tian, Cheng Lin, Lingjie Liu, Hao Zhao, Guyue Zhou, Wenping Wang
2024 J jnl
Adaptive Surface Normal Constraint for Geometric Estimation from Monocular Images.
CoRR
Xiaoxiao Long, Yuhang Zheng, Yupeng Zheng, Beiwen Tian, Cheng Lin, Lingjie Liu, Hao Zhao, Guyue Zhou, Wenping Wang
2024 J jnl
Design and Fabrication of a Film Bulk Acoustic Wave Filter for 3.0 GHz-3.2 GHz S-Band.
Sensors
Chao Gao, Yupeng Zheng, Haiyang Li, Yuqi Ren, Xiyu Gu, Xiaoming Huang, Yaxin Wang, Yuanhang Qu, Yan Liu, Yao Cai, Chengliang Sun
2024 — conf
Flow-Audio-Synth: A Video-to-Audio Model which Captures Dynamic Features.
PRCV (10)
Yupeng Zheng, Zixiang Lu, Yan Zhang, Qiguang Miao, Xiangzeng Liu
2024 J jnl
GaussianGrasper: 3D Language Gaussian Splatting for Open-Vocabulary Robotic Grasping.
IEEE Robotics Autom. Lett.
Yuhang Zheng, Xiangyu Chen, Yupeng Zheng, Songen Gu, Runyi Yang, Bu Jin, Pengfei Li, Chengliang Zhong, Zengmao Wang, Lina Liu, Chao Yang, Dawei Wang, Zhen Chen, Xiaoxiao Long, Meiqing Wang
2024 J jnl
GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping.
CoRR
Yuhang Zheng, Xiangyu Chen, Yupeng Zheng, Songen Gu, Runyi Yang, Bu Jin, Pengfei Li, Chengliang Zhong, Zengmao Wang, Lina Liu, Chao Yang, Dawei Wang, Zhen Chen, Xiaoxiao Long, Meiqing Wang
2024 J jnl
Impacts of LULC changes on runoff from rivers through a coupled SWAT and BiLSTM model: A case study in Zhanghe River Basin, China.
Ecol. Informatics
Jiawen Liu, Xianqi Zhang, Xiaoyan Wu, Yang Yang, Yupeng Zheng
2024 J jnl
Latency-aware Road Anomaly Segmentation in Videos: A Photorealistic Dataset and New Metrics.
CoRR
Beiwen Tian, Huan-ang Gao, Leiyao Cui, Yupeng Zheng, Lan Luo, Baofeng Wang, Rong Zhi, Guyue Zhou, Hao Zhao
2024 J jnl
Learnable differencing center for nighttime depth perception.
Vis. Intell.
Zhiqiang Yan, Yupeng Zheng, Deng-Ping Fan, Xiang Li, Jun Li, Jian Yang
2024 A* conf
MonoOcc: Digging into Monocular Semantic Occupancy Prediction.
ICRA
Yupeng Zheng, Xiang Li, Pengfei Li, Yuhang Zheng, Bu Jin, Chengliang Zhong, Xiaoxiao Long, Hao Zhao, Qichao Zhang
2024 J jnl
MonoOcc: Digging into Monocular Semantic Occupancy Prediction.
CoRR
Yupeng Zheng, Xiang Li, Pengfei Li, Yuhang Zheng, Bu Jin, Chengliang Zhong, Xiaoxiao Long, Hao Zhao, Qichao Zhang
2024 J jnl
PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planning.
CoRR
Yupeng Zheng, Zebin Xing, Qichao Zhang, Bu Jin, Pengfei Li, Yuhang Zheng, Zhongpu Xia, Kun Zhan, Xianpeng Lang, Yaran Chen, Dongbin Zhao
2024 J jnl
Planning-Inspired Hierarchical Trajectory Prediction via Lateral-Longitudinal Decomposition for Autonomous Driving.
IEEE Trans. Intell. Veh.
Ding Li, Qichao Zhang, Zhongpu Xia, Yupeng Zheng, Kuan Zhang, Menglong Yi, Wenda Jin, Dongbin Zhao
2024 J jnl
Preliminary Investigation into Data Scaling Laws for Imitation Learning-Based End-to-End Autonomous Driving.
CoRR
Yupeng Zheng, Zhongpu Xia, Qichao Zhang, Teng Zhang, Ben Lu, Xiaochuang Huo, Chao Han, Yixian Li, Mengjie Yu, Bu Jin, Pengxuan Yang, Yuhang Zheng, Haifeng Yuan, Ke Jiang, Peng Jia, Xianpeng Lang, Dongbin Zhao
2024 — conf
TOD3Cap: Towards 3D Dense Captioning in Outdoor Scenes.
ECCV (18)
Bu Jin, Yupeng Zheng, Pengfei Li, Weize Li, Yuhang Zheng, Sujie Hu, Xinyu Liu, Jinwei Zhu, Zhijie Yan, Haiyang Sun, Kun Zhan, Peng Jia, Xiaoxiao Long, Yilun Chen, Hao Zhao
2024 J jnl
TOD3Cap: Towards 3D Dense Captioning in Outdoor Scenes.
CoRR
Bu Jin, Yupeng Zheng, Pengfei Li, Weize Li, Yuhang Zheng, Sujie Hu, Xinyu Liu, Jinwei Zhu, Zhijie Yan, Haiyang Sun, Kun Zhan, Peng Jia, Xiaoxiao Long, Yilun Chen, Hao Zhao
2024 J jnl
Tri-Perspective View Decomposition for Geometry-Aware Depth Completion.
CoRR
Zhiqiang Yan, Yuankai Lin, Kun Wang, Yupeng Zheng, Yufei Wang, Zhenyu Zhang, Jun Li, Jian Yang
2024 A* conf
Tri-Perspective view Decomposition for Geometry-Aware Depth Completion.
CVPR
Zhiqiang Yan, Yuankai Lin, Kun Wang, Yupeng Zheng, Yufei Wang, Zhenyu Zhang, Jun Li, Jian Yang
2023 A* conf
3D Implicit Transporter for Temporally Consistent Keypoint Discovery.
ICCV
Chengliang Zhong, Yuhang Zheng, Yupeng Zheng, Hao Zhao, Li Yi, Xiaodong Mu, Ling Wang, Pengfei Li, Guyue Zhou, Chao Yang, Xinliang Zhang, Jian Zhao
2023 J jnl
3D Implicit Transporter for Temporally Consistent Keypoint Discovery.
CoRR
Chengliang Zhong, Yuhang Zheng, Yupeng Zheng, Hao Zhao, Li Yi, Xiaodong Mu, Ling Wang, Pengfei Li, Guyue Zhou, Chao Yang, Xinliang Zhang, Jian Zhao
2023 A* conf
ADAPT: Action-aware Driving Caption Transformer.
ICRA
Bu Jin, Xinyu Liu, Yupeng Zheng, Pengfei Li, Hao Zhao, Tong Zhang, Yuhang Zheng, Guyue Zhou, Jingjing Liu
2023 J jnl
ADAPT: Action-aware Driving Caption Transformer.
CoRR
Bu Jin, Xinyu Liu, Yupeng Zheng, Pengfei Li, Hao Zhao, Tong Zhang, Yuhang Zheng, Guyue Zhou, Jingjing Liu
2023 A* conf
DPF: Learning Dense Prediction Fields with Weak Supervision.
CVPR
Xiaoxue Chen, Yuhang Zheng, Yupeng Zheng, Qiang Zhou, Hao Zhao, Guyue Zhou, Ya-Qin Zhang
2023 J jnl
DPF: Learning Dense Prediction Fields with Weak Supervision.
CoRR
Xiaoxue Chen, Yuhang Zheng, Yupeng Zheng, Qiang Zhou, Hao Zhao, Guyue Zhou, Ya-Qin Zhang
2023 — conf
Enhancing Daily Life Through an Interactive Desktop Robotics System.
CICAI (2)
Yuhang Zheng, Qiyao Wang, Chengliang Zhong, He Liang, Zhengxiao Han, Yupeng Zheng
2023 J jnl
Learnable Differencing Center for Nighttime Depth Perception.
CoRR
Zhiqiang Yan, Yupeng Zheng, Kun Wang, Xiang Li, Zhenyu Zhang, Shuo Chen, Jun Li, Jian Yang
2023 A* conf
STEPS: Joint Self-supervised Nighttime Image Enhancement and Depth Estimation.
ICRA
Yupeng Zheng, Chengliang Zhong, Pengfei Li, Huan-ang Gao, Yuhang Zheng, Bu Jin, Ling Wang, Hao Zhao, Guyue Zhou, Qichao Zhang, Dongbin Zhao
2023 J jnl
STEPS: Joint Self-supervised Nighttime Image Enhancement and Depth Estimation.
CoRR
Yupeng Zheng, Chengliang Zhong, Pengfei Li, Huan-ang Gao, Yuhang Zheng, Bu Jin, Ling Wang, Hao Zhao, Guyue Zhou, Qichao Zhang, Dongbin Zhao