publications

2025

1. Under Review

   

   Segment then Splat: A Unified Approach for 3D Open-Vocabulary Segmentation based on Gaussian Splatting

   Yiren Lu, Yunlai Zhou, Yiran Qiao, Chaoda Song, and 3 more authors

   2025

   Bib PDF Website

   @misc{lu2025segmentsplatunifiedapproach,
     title = {Segment then Splat: A Unified Approach for 3D Open-Vocabulary Segmentation based on Gaussian Splatting},
     author = {Lu, Yiren and Zhou, Yunlai and Qiao, Yiran and Song, Chaoda and Liang, Tuo and Ma, Jing and Yin, Yu},
     year = {2025},
     eprint = {2503.22204},
     archiveprefix = {arXiv},
     primaryclass = {cs.CV},
     url = {https://arxiv.org/abs/2503.22204},
   }

2. Under Review

   

   CAUSAL3D: A Comprehensive Benchmark for Causal Learning from Visual Data

   Disheng Liu, Yiran Qiao, Wuche Liu, Yiren Lu, and 4 more authors

   2025

   Bib PDF

   @misc{liu2025causal3dcomprehensivebenchmarkcausal,
     title = {CAUSAL3D: A Comprehensive Benchmark for Causal Learning from Visual Data},
     author = {Liu, Disheng and Qiao, Yiran and Liu, Wuche and Lu, Yiren and Zhou, Yunlai and Liang, Tuo and Yin, Yu and Ma, Jing},
     year = {2025},
     eprint = {2503.04852},
     archiveprefix = {arXiv},
     primaryclass = {cs.CV},
     url = {https://arxiv.org/abs/2503.04852},
   }

3. CVPR

   

   BARD-GS: Blur-Aware Reconstruction of Dynamic Scenes via Gaussian Splatting

   Yiren Lu, Yunlai Zhou, Disheng Liu, Tuo Liang, and 1 more author

   arXiv preprint arXiv:2503.15835, 2025

   Bib PDF Website

   @article{lu2025bard,
     title = {BARD-GS: Blur-Aware Reconstruction of Dynamic Scenes via Gaussian Splatting},
     author = {Lu, Yiren and Zhou, Yunlai and Liu, Disheng and Liang, Tuo and Yin, Yu},
     journal = {arXiv preprint arXiv:2503.15835},
     year = {2025},
   }

2024

1. NeurIPS

   

   Cracking the Code of Juxtaposition: Can AI Models Understand the Humorous Contradictions

   Zhe Hu, Tuo Liang, Jing Li, Yiren Lu, and 4 more authors

   arXiv preprint arXiv:2405.19088, 2024

   Bib PDF Website

   @article{hu2024cracking,
     title = {Cracking the Code of Juxtaposition: Can AI Models Understand the Humorous Contradictions},
     author = {Hu, Zhe and Liang, Tuo and Li, Jing and Lu, Yiren and Zhou, Yunlai and Qiao, Yiran and Ma, Jing and Yin, Yu},
     journal = {arXiv preprint arXiv:2405.19088},
     year = {2024},
   }

2. ACM MM

   

   View-consistent Object Removal in Radiance Fields

   Yiren Lu, Jing Ma, and Yu Yin

   In ACM Multimedia , 2024

   Bib PDF Website

   @inproceedings{lu2024view,
     title = {View-consistent Object Removal in Radiance Fields},
     author = {Lu, Yiren and Ma, Jing and Yin, Yu},
     booktitle = {ACM Multimedia},
     year = {2024},
   }

3. RA-L

   

   iSLAM: Imperative SLAM

   Taimeng Fu, Shaoshu Su, Yiren Lu, and Chen Wang

   IEEE Robotics and Automation Letters (RA-L), 2024

   Bib PDF Code Website

   @article{fu2024islam,
     title = {{iSLAM}: Imperative {SLAM}},
     author = {Fu, Taimeng and Su, Shaoshu and Lu, Yiren and Wang, Chen},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2024},
   }

2023

1. IROS

   

   PyPose v0.6: The Imperative Programming Interface for Robotics

   Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, and 32 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop , 2023

   Bib PDF Code

   @inproceedings{zhan2023pypose,
     title = {{PyPose} v0.6: The Imperative Programming Interface for Robotics},
     author = {Zhan, Zitong and Li, Xiangfu and Li, Qihang and He, Haonan and Pandey, Abhinav and Xiao, Haitao and Xu, Yangmengfei and Chen, Xiangyu and Xu, Kuan and Cao, Kun and Zhao, Zhipeng and Wang, Zihan and Xu, Huan and Fang, Zihang and Chen, Yutian and Wang, Wentao and Fang, Xu and Du, Yi and Wu, Tianhao and Lin, Xiao and Qiu, Yuheng and Yang, Fan and Shi, Jingnan and Su, Shaoshu and Lu, Yiren and Fu, Taimeng and Dantu, Karthik and Wu, Jiajun and Xie, Lihua and Hutter, Marco and Carlone, Luca and Scherer, Sebastian and Huang, Daning and Hu, Yaoyu and Geng, Junyi and Wang, Chen},
     year = {2023},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop},
     organization = {IEEE},
   }

2022

1. IROS

   

   Multical: Spatiotemporal calibration for multiple IMUs, cameras and LiDARs

   Xiangyang Zhi, Jiawei Hou, Yiren Lu, Laurent Kneip, and 1 more author

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022

   Bib PDF Code

   @inproceedings{zhi2022multical,
     title = {Multical: Spatiotemporal calibration for multiple IMUs, cameras and LiDARs},
     author = {Zhi, Xiangyang and Hou, Jiawei and Lu, Yiren and Kneip, Laurent and Schwertfeger, S{\"o}ren},
     booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {2446--2453},
     year = {2022},
     organization = {IEEE},
   }

2. ECCV

   

   End to End Face Reconstruction via Differentiable PnP

   Yiren Lu, and Huawei Wei

   In European Conference on Computer Vision , 2022

   Bib PDF

   @inproceedings{lu2022end,
     title = {End to End Face Reconstruction via Differentiable PnP},
     author = {Lu, Yiren and Wei, Huawei},
     booktitle = {European Conference on Computer Vision},
     pages = {398--406},
     year = {2022},
     organization = {Springer},
   }

2020

1. SSRR

   

   Improving CNN-based planar object detection with geometric prior knowledge

   Jianxiong Cai, Jiawei Hou, Yiren Lu, Hongyu Chen, and 2 more authors

   In 2020 IEEE international symposium on safety, security, and rescue robotics (SSRR) , 2020

   Bib PDF

   @inproceedings{cai2020improving,
     title = {Improving CNN-based planar object detection with geometric prior knowledge},
     author = {Cai, Jianxiong and Hou, Jiawei and Lu, Yiren and Chen, Hongyu and Kneip, Laurent and Schwertfeger, S{\"o}ren},
     booktitle = {2020 IEEE international symposium on safety, security, and rescue robotics (SSRR)},
     pages = {387--393},
     year = {2020},
     organization = {IEEE},
   }