📝 Publications

My full paper list can be found at

ADVEI, CCF-B, 中科院一区TOP, JCR Q1, IF:9.9 Enhancing Multimodal-Input Object Goal Navigation by Leveraging Large Language Models for Inferring Room-Object Relationship Knowledge
Leyuan Sun*, Asako Kanezaki, Guillaume Caron, and Yusuke Yoshiyasu
[PDF] [Project page]

IEEE Humanoids 2022 Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM
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]

RSJ 2019 Robust SLAM in Dynamic Environment based on Object’s Mask
Leyuan Sun*, and Fumio Kanehiro
[PDF] [International Session Best Presentation Award Finalist]

• RoboMech 2025 PointNoMaD: Diffusion-Based Navigation in Constrained Environments, Gauvain Robert, Leyuan Sun, Yusuke Yoshiyasu, Fumio Kanehiro. [PDF]

• ICCV 2025, CCF-A MeshMamba: State Space Models for Articulated 3D Mesh Generation and Reconstruction, Yusuke Yoshiyasu, Leyuan Sun, Ryusuke Sagawa. [PDF]

• BSPC, 中科院二区, JCR Q1, IF:4.9 Tumor segmentation and boundary fusion network via hierarchical cross-correlation learning, Guanqun Ding, Kaiwen Yang, Leyuan Sun, Yuming Fang. [PDF]

• PR, CCF-B, 中科院一区TOP, JCR Q1, IF:7.6 MPM-Net: Multi-task interactive network with progressive multi-granularity learning for herbal medicine recognition, Kaiwen Yang, Guanqun Ding, Leyuan Sun, Jingzhong Chen, Guangying Du, Quan Zheng, Tao Zhang. [PDF]

• IMAVIS, CCF-C, 中科院三区, JCR Q1, IF:4.2 Memory-MambaNav: Enhancing Object-Goal Navigation through Integration of Spatial-Temporal Scanning with State Space Models, Leyuan Sun*, Yusuke Yoshiyasu. [PDF] [Project page]

• ECCV 2024, CCF-B DiffSurf: A Transformer-based Diffusion Model for Generating and Reconstructing 3D Surfaces in Pose, Yusuke Yoshiyasu, Leyuan Sun. [PDF]

• SORO, 中科院二区, JCR Q1, IF:3.7 A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer, 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] [Youtube Video]

• IEEE Sensors, 中科院二区TOP, JCR Q1, IF:4.3 TransFusionOdom: Transformer-Based LiDAR-Inertial Fusion Odometry Estimation, Leyuan Sun*, Guanqun Ding, Yue Qiu, Y. Yoshiyasu and F. Kanehiro. [PDF] [Datasets]

• ICRA 2023 WS Enhancement of Team JANUS’ cybernetic avatar system for exploration and skill transfer, 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] [Workshop page]

• IEEE ROBIO 2022 CertainOdom: Uncertainty Weighted Multi-task Learning Model for LiDAR Odometry Estimation, Leyuan Sun*, Guanqun Ding, Y. Yoshiyasu and F. Kanehiro. [PDF] [Best Conference Paper Award]

• RSS 2022 WS Avatar system of Team JANUS: A cybernetic avatar to transport human presence to remote locations, 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 Video]

• JRM, EI期刊, JCR Q3, IF:0.9 Visual SLAM Framework Based on Segmentation with the Improvement of Loop Closure Detection in Dynamic Environments, Leyuan Sun*, Rohan P. Singh, and Fumio Kanehiro. [PDF]

• IEEE SII 2020 Multi-purpose SLAM framework for Dynamic Environment, Leyuan Sun*, F. Kanehiro, I. Kumagai and Y. Yoshiyasu. [PDF]

• RoboMech 2019 Robust SLAM based on Segmentation of Dynamic Object’s Point Cloud, Leyuan Sun*, and Fumio Kanehiro. [PDF]