Yuheng Qiu

yuheng2024.jpg

I am a Postdoctoral Scientist at Amazon FAR (Frontier AI & Robotics), working with Pieter Abbeel, Rocky Duan, and Guanya Shi. I received my Ph.D. from Carnegie Mellon University, where I was advised by Sebastian Scherer and affiliated with the AirLab. Previously, I have worked with Abhinav Gupta at Skild.ai, Chen Wang from the University at Buffalo, and Jenny Geng from Penn State. I received my B.Eng. in Computer Science and Engineering from the Chinese University of Hong Kong, Shenzhen in 2019.

I have an innate passion for advancing spatial AI to enhance robot autonomy. One specific area I focus on is creating generalized learning-based SLAM systems. Currently, engineers need to manually tune hyperparameters when applying these systems to new platforms, datasets, or sensors. I believe data-driven methods and uncertainty modeling are key to solving this problem. I hope that one day, SLAM will be fully automated—so much so that SLAM engineers like me will become unnecessary. (And I’ll happily “fire” myself when that day comes! 😂)

LinkedIn / X / Github / Google Scholar            Email: yuhengq [at] andrew.cmu.edu

News

Sep 27, 2026 Invited Talk at the IROS 2026 workshop on Interoceptive Perception: Learning Inertial Odometry: From Specialized to Generalized
Oct 15, 2025 Invited Talk in Upenn on Learning-based SLAM and Inertial Odometry
Sep 25, 2025 Invited Talk in NASA JPL on Learning-based SLAM and Inertial Odometry
Aug 01, 2025 Invited Talk in Google AR on Robust Perception and Generalization
May 22, 2025 🥇 MAC-VO won the ICRA 2025 Best Conference Paper Award and Best Paper Award on Robot Perception.

Awards

  • 2025 ICRA Best Conference Paper Award — MAC-VO
  • 2025 ICRA Best Paper Award on Robot Perception — MAC-VO
  • 2025 NASA Lunar Autonomy Challenge, Third Place

Talks

Learning Inertial Odometry: From Specialized to Generalized
IROS 2026 Workshop: Beyond Exteroception — Interoceptive Perception for Resilient Robotics
Sep 27, 2026 · Pittsburgh, PA

Publications

2026

  1. SSIO.gif
    Self-Supervised Inertial Odometry
    Yuheng Qiu, Yutian Chen, Carlton Cort, Weison Huang, Shibo Zhao, Pieter Abbeel, Rocky Duan, Koushil Sreenath, C. Karen Liu, Carmelo Sferrazza, Junyi Geng, Sebastian Scherer, and Guanya Shi
    2026
    PDF Code Website
  2. StopWatch.gif
    StopWatch: Goal Grounding for Object-goal Navigation
    Xinhao Liu, Yunsheng Tian, Yuheng Qiu, Pieter Abbeel, Xi Chen, Guanya Shi, and Chen Feng
    2026
    PDF Code Website
  3. MAC-I2.gif
    MAC-I²: Learned Metrics-Aware Covariance for Robust Visual-Inertial Fusion in Initialization and Calibration
    Xiang Fei, Yuheng Qiu, Can Xu, Yutian Chen, Ruogu Li, Xingxing Zuo, Wenshan Wang, and Sebastian Scherer
    2026
    PDF Website
  4. Co-Me.gif
    Co-Me: Confidence-Guided Token Merging for Visual Geometric Transformers
    Yutian Chen, Yuheng Qiu, Ruogu Li, Ali Agha, Shayegan Omidshafiei, Jay Patrikar, and Sebastian Scherer
    CVPR 2026
    PDF Code Website

2025

  1. macvo-s.jpg
    MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry
    Yuheng Qiu, Yutian Chen, Zihao Zhang, Wenshan Wang, and Sebastian Scherer
    ICRA 2025 (Best Conference Paper)
    Best Conference Paper PDF Video Code Website
  2. UFM-s.jpg
    UFM: A Simple Path towards Unified Dense Correspondence with Flow
    Yuchen Zhang, Nikhil Keetha, Chenwei Lyu, Bhuvan Jhamb, Yutian Chen, Yuheng Qiu, Jay Karhade, Shreyas Jha, Yaoyu Hu, Deva Ramanan, and  others
    NeuralIPS 2025
    Website
  3. RayFronts.gif
    RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration
    Omar Alama, Avigyan Bhattacharya, Haoyang He, Seungchan Kim, Yuheng Qiu, Wenshan Wang, Cherie Ho, Nikhil Keetha, and Sebastian Scherer
    IROS 2025
    PDF Video Code Website
  4. TartanGround.jpg
    TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation
    Manthan Patel, Fan Yang, Yuheng Qiu, Cesar Cadena, Sebastian Scherer, Marco Hutter, and Wenshan Wang
    IROS 2025
    PDF Code Website
  5. IMPC.jpg
    Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control
    Haonan He, Yuheng Qiu, and Junyi Geng
    L4DC 2025
    PDF
  6. TartanIMU.jpg
    Tartan IMU: A Light Foundation Model for Inertial Positioning in Robotics
    Shibo Zhao, Sifan Zhou, Raphael Blanchard, Yuheng Qiu, Wenshan Wang, and Sebastian Scherer
    CVPR 2025
    PDF Website
  7. AirIO.gif
    AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability
    Yuheng Qiu, Can Xu, Yutian Chen, Shibo Zhao, Junyi Geng, and Sebastian Scherer
    RA-L 2025
    PDF Code Website
  8. uncertainty-s.gif
    SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks
    Shibo Zhao, Honghao Zhu, Yuanjun Gao, Beomsoo Kim, Yuheng Qiu, Aaron M Johnson, and Sebastian Scherer
    ICRA 2025
    PDF Code Website

2024

  1. airimu-s.jpg
    AirIMU: Learning Uncertainty Propagation for Inertial Odometry
    Yuheng Qiu, Chen Wang, Can Xu, Yutian Chen, Xunfei Zhou, Youjie Xia, and Sebastian Scherer
    arXiv 2024
    PDF Video Code Website
  2. subt.jpg
    SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments
    Shibo Zhao, Yuanjun Gao, Tianhao Wu, Damanpreet Singh, Rushan Jiang, Haoxiang Sun, Mansi Sarawata, Yuheng Qiu, Warren Whittaker, Ian Higgins, Yi Du, Shaoshu Su, Can Xu, John Keller, Jay Karhade, Lucas Nogueira, Sourojit Saha, Ji Zhang, Wenshan Wang, Chen Wang, and 1 more author
    CVPR 2024
    PDF Video Website

2023

  1. pypose-s.jpg
    PyPose: A library for robot learning with physics-based optimization
    Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady Moon, Abhinav Pandey, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, and 16 more authors
    CVPR 2023 (1k GitHub Star)
    1k GitHub Star PDF Video Code Website
  2. pyposev06.jpg
    PyPose v0. 6: The Imperative Programming Interface for Robotics
    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, and 16 more authors
    IROS Workshop 2023
    PDF Website

2022

  1. AirDOS-s.gif
    AirDOS: Dynamic SLAM benefits from articulated objects
    Yuheng Qiu, Chen Wang, Wenshan Wang, Mina Henein, and Sebastian Scherer
    ICRA 2022
    PDF Video Code
  2. lgl-s.jpg
    Lifelong graph learning
    Chen Wang, Yuheng Qiu, Dasong Gao, and Sebastian Scherer
    CVPR 2022 (Oral)
    Oral PDF Code
  3. AirObject-s.jpg
    AirObject: A temporally evolving graph embedding for object identification
    Nikhil Varma Keetha, Chen Wang, Yuheng Qiu, Kuan Xu, and Sebastian Scherer
    CVPR 2022
    PDF Code

2021

  1. interestingness-s.jpg
    Unsupervised online learning for robotic interestingness with visual memory
    Chen Wang, Yuheng Qiu, Wenshan Wang, Yafei Hu, Seungchan Kim, and Sebastian Scherer
    T-RO 2021
    PDF Code

2020

  1. visual_memorability-s.jpg
    Visual memorability for robotic interestingness via unsupervised online learning
    Chen Wang, Wenshan Wang, Yuheng Qiu, Yafei Hu, and Sebastian Scherer
    ECCV 2020 (Oral)
    Oral PDF Code
  2. tartanair-s.jpg
    Tartanair: A dataset to push the limits of visual slam
    Wenshan Wang, Delong Zhu, Xiangwei Wang, Yaoyu Hu, Yuheng Qiu, Chen Wang, Yafei Hu, Ashish Kapoor, and Sebastian Scherer
    IROS 2020
    PDF Video Website