☯️ About Me

Leyuan Sun was born in Zhenjiang, Jiangsu (江苏镇江) in August 1993. He received his B.Eng. degree from Jiangsu University, Zhenjiang, China, in 2015, and his M.Eng. and Ph.D. degrees from the University of Tsukuba (筑波大学, 智能机能系统专业), Tsukuba, Japan, in 2020 and 2023, respectively. From April 2018 to March 2023, under the supervision of Professor Fumio Kanehiro (金広 文男), he was a member of the CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST) (国立研究開発法人産業技術総合研究所), Japan. From 2023 to 2025, he holds a postdoctoral position with the Computer Vision Research Team, Artificial Intelligence Research Center, hosted by Dr. Yusuke Yoshiyasu (吉安 祐介). His research interests include robotics, embodied AI, computer vision, SLAM, learning-based sensor fusion, virtual reality teleoperation, multimodal learning, and object-goal navigation.

🧘 Update

• 2023.04 - now: I am doing my two-year postdoctoral fellowship at AIST (産総研), Japan and looking for a position in academia simultaneously.
• 2024.08.22: Website open, leyuan-sun.github.io.

📝 Publications

My full paper list can be found at

Enhancing Multimodal-Input Object Goal Navigation by Leveraging Large Language Models for Inferring Room-Object Relationship Knowledge
Under review
Leyuan Sun*, Asako Kanezaki, Guillaume Caron, and Yusuke Yoshiyasu
[PDF] [Project page]

DiffSurf: A Transformer-based Diffusion Model for Generating and Reconstructing 3D Surfaces in Pose
The 18th European Conference on Computer Vision ECCV 2024, Milano, Italy, (CCF-B)
Yusuke Yoshiyasu* and Leyuan Sun
[PDF] [Code]

A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer
International Journal of Social Robotics, 2024 (SCI收录，中科院二区，JCR Q1)
Rafael Cisneros-Limón*, Antonin Dallard, Mehdi Benallegue, Kenji Kaneko, Hiroshi Kaminaga, Pierre Gergondet, Arnaud Tanguy, Rohan Pratap Singh, Leyuan Sun, Yang Chen, Carole Fournier, Guillaume Lorthioir, Masato Tsuru, Sélim Chefchaouni-Moussaoui, Yukiko Osawa, Guillaume Caron, Kevin Chappellet, Mitsuharu Morisawa, Adrien Escande, Ko Ayusawa, Younes Houhou, Iori Kumagai, Michio Ono, Koji Shirasaka, Shiryu Wada, Hiroshi Wada, Fumio Kanehiro and Abderrahmane Kheddar
[PDF] [ANA Avatar XPRIZE team web] [Project page]

TransFusionOdom: Transformer-Based LiDAR-Inertial Fusion Odometry Estimation
IEEE Sensors Journal, vol. 23, no. 18, pp. 22064-22079, 2023, (SCI收录，中科院二区TOP，JCR Q1)
Leyuan Sun*, Guanqun Ding, Yue Qiu, Y. Yoshiyasu and F. Kanehiro
[PDF] [Dataset]

Enhancement of Team JANUS’ cybernetic avatar system for exploration and skill transfer
ICRA 2023 Workshop on “2nd Workshop Toward Robot Avatars”, London, (CCF-B)
R. Cisneros*, A. Dallard, M. Benallegue, K. Kaneko, H. Kaminaga, P. Gergondet, A. Tanguy, C. Fournier, R. Singh, Y. Chen, S. Chefchaouni-Moussaoui, G. Lorthioir, Y. Osawa, M. Tsuru, Leyuan Sun, M. Morisawa, G. Caron, M. Ono, K. Shirasaka, S. Wada, H. Wada, F. Kanehiro and A. Kheddar
[PDF] [Youtube full demo] [Workshop page] [ANA Avatar XPRIZE team web] [Project page]

CertainOdom: Uncertainty Weighted Multi-task Learning Model for LiDAR Odometry Estimation
2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), Jinghong, China, (EI收录)
Leyuan Sun*, Guanqun Ding, Y. Yoshiyasu and F. Kanehiro
[PDF] [Best Conference Paper Award]

Avatar system of Team JANUS: A cybernetic avatar to transport human presence to remote locations
“Toward Robot Avatars: Perspectives on the ANA Avatar XPRIZE Competition”, New York City, USA, RSS 2022 Workshop
R. Cisneros*, M. Benallegue, K. Kaneko, H. Kaminaga, G. Caron, A. Tanguy, R. Singh, Leyuan Sun, A. Dallard, C. Fournier, M. Tsuru, C. Yang, Y. Osawa, G. Lorthioir, F. Kanehiro and A. Kheddar
[PDF] [Youtube full demo] [ANA Avatar XPRIZE team web] [Project page]

Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM
2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Ginowan, Japan, (EI收录)
Yang Chen*, Leyuan Sun* (equal contribution), Mehdi Benallegue, Rafael Cisneros Limon, Rohan Pratap Singh, Kenji Kaneko, Arnaud TANGUY, Guillaume Caron, Kenji Suzuki, Abderrahmane Kheddar and Fumio Kanehiro
[PDF] [Youtube full demo] [ANA Avatar XPRIZE team web] [Project page]

Visual SLAM Framework Based on Segmentation with the Improvement of Loop Closure Detection in Dynamic Environments
Journal of Robotics and Mechatronics, vol.33 no.6, 2021, (EI期刊)
Leyuan Sun*, Rohan P. Singh, and Fumio Kanehiro
[PDF]

Multi-purpose SLAM framework for Dynamic Environment
2020 IEEE/SICE International Symposium on System Integration (SII), Hawaii, USA, (EI收录)
Leyuan Sun*, F. Kanehiro, I. Kumagai and Y. Yoshiyasu
[PDF]

Robust SLAM in Dynamic Environment based on Object’s Mask
the 37th Annual Conference of the Robotics Society of Japan (RSJ2019)
Leyuan Sun*, and Fumio Kanehiro
[PDF] [International Session Best Presentation Award Finalist]

Robust SLAM based on Segmentation of Dynamic Object’s Point Cloud
JSME annual Conference on Robotics and Mechatronics (Robomec), 2019
DOI: https://doi.org/10.1299/jsmermd.2019.2A1-R07
Leyuan Sun*, and Fumio Kanehiro
[PDF]

🏆 Selected Honors and Grants

• 2019.09: International Session Best Presentation Award Finalist of the 37th Annual Conference of the Robotics Society of Japan (RSJ 2019)

• 2022.12: Best Conference Paper of 18th IEEE International Conference on Robotics and Biomimetics (ROBIO 2022).

• 2021.10 - 2023.3: JST Support for Pioneering Research Initiated by the Next Generation: SPRING,
  日本文部科学省（日本教育部），Japan Science and Technology Agency（国立研究開発法人 科学技術振興機構），Grant Number JPMJSP2124, 主持，已结题。
  Research topic: Study on deep learning-based multi-sensor fusion with uncertainty and attention awareness for odometry estimation in challenging environment
  Grant: 1,000,000 Japanese yen
  Scholarship: 200,000 Japanese yen per month

• 2023.4 - 2025.3：NEDO3.0実世界の観測やデジタルルインに基づく空間・人・もの・行為等の記号的表現会得の研究プロジェクト, NEDO 国立研究開発法人 新エネルギー・産業技術総合開発機構, 参与。
  Research topic: Object-goal navigation

• 2023.4 - 2025.3：Japan Society for the Promotion of Science (JSPS 日本学術振興会) KAKENHI, Grant Number 23H03426, 参与。
  Research topic: 大規模学習モデルと３Ｄ仮想空間をつなぐ実世界AIのゼロショット学習. (Zeroshot learning of real-world AI by fusing large deep learning models and 3D virtual world)

💼 Employments

• 2014 Summer, Shanghai Siemens PPDC software development (西门子工业软件研发中心) : Full time internship for CAE simulation group QA.
• 2019 Summer, Shenzhen S.F. Technology (顺丰科技): Full time internship in robot vision perception group.
• 2018.04 - 2023.03, Student research assistant (研究助理) CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST) (国立研究開発法人産業技術総合研究所), Japan.
• 2023.04 - 2025.03, Postdoc researcher (産総研特別研究員) at Computer Vision Research Team, Artificial Intelligence Research Center, National Institute of Advanced Industrial Science and Technology (AIST) (国立研究開発法人産業技術総合研究所), Japan.

📖 Educations

• 2018.04 - 2023.03: M.Eng and Ph.D. in Engineering, Intelligent and Mechanical Interaction Systems (智能机能系统), supervised by Professor Fumio Kanehiro (金広 文男), University of Tsukuba, Japan, associated with CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST) (国立研究開発法人産業技術総合研究所), Japan.
• 2017.10 - 2018.04: Research student, Digital Control Laboratory, Intelligent and Mechanical Interaction Systems (智能机能系统), supervised by Professor Noriyuki Hori (堀 憲之), University of Tsukuba, Japan.
• 2011.09 - 2015.06: B.E. in Mechanical design and manufacturing and its automation (机械设计制造及其自动化), Jiangsu University, China.

💻 Academic Service

Reviewer:

• IEEE Robotics and Automation Letters (中科院二区Top, JCR Q1)
• IEEE Sensors Journal (中科院二区Top, JCR Q1)
• Advanced Engineering Informatics (中科院一区Top, CCF-B, JCR Q1)
• Measurement (中科院二区Top, JCR Q1)
• Advanced Robotics (JCR Q2)
• International Conference on Robotics and Automation (ICRA, CCF-B)
• Winter Conference on Applications of Computer Vision (WACV)
• …

🏠 Family Members