publications

2026

1. arXiv

   

   Argos: Adapt Rich Geometric Priors for Generalizable Online Scene-Change-Detection

   Ruihan Xu, Jiae Yoon, Kaichen Zhou, and 2 more authors

   arXiv preprint arXiv:2610.10181, 2026

   Bib PDF Website

   @article{xu2026argos,
     author = {Xu, Ruihan and Yoon, Jiae and Zhou, Kaichen and Kim, Ue-Hwan and Carlone, Luca},
     title = {Argos: Adapt Rich Geometric Priors for Generalizable Online Scene-Change-Detection},
     journal = {arXiv preprint arXiv:2610.10181},
     year = {2026},
   }

2. RA-L

   

   Imaginative World Modeling With Scene Graphs Via VLM for Object Navigation

   Yue Hu, Junzhe Wu, Ruihan Xu, and 5 more authors

   IEEE Robotics and Automation Letters, 2026

   to appear

   Bib PDF

   @article{hu2026imaginative,
     author = {Hu, Yue and Wu, Junzhe and Xu, Ruihan and Liu, Hang and Xi, Avery and Liu, Henry X. and Vasudevan, Ram and Ghaffari, Maani},
     journal = {IEEE Robotics and Automation Letters},
     title = {Imaginative World Modeling With Scene Graphs Via {VLM} for Object Navigation},
     year = {2026},
     note = {to appear},
   }

3. IROS

   

   Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation

   Hyungtae Lim, Nathan Hughes, Xihang Yu, and 5 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

   to appear

   Bib PDF Video Website

   @inproceedings{lim2026hydra,
     author = {Lim, Hyungtae and Hughes, Nathan and Yu, Xihang and Xu, Ruihan and Chang, Yun and Shi, Jingnan and Talak, Rajat and Carlone, Luca},
     title = {Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2026},
     note = {to appear},
   }

2025

1. RA-L

   

   LatentBKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces With Quantifiable Uncertainty

   Joey Wilson^*, Ruihan Xu^*, Yile Sun, and 4 more authors

   IEEE Robotics and Automation Letters, 2025

   DOI Bib PDF Code

   @article{10876603,
     author = {Wilson, Joey and Xu, Ruihan and Sun, Yile and Ewen, Parker and Zhu, Minghan and Barton, Kira and Ghaffari, Maani},
     journal = {IEEE Robotics and Automation Letters},
     title = {LatentBKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces With Quantifiable Uncertainty},
     year = {2025},
     volume = {10},
     number = {4},
     pages = {3102-3109},
     keywords = {Uncertainty;Semantics;Robots;Kernel;Neural networks;Bayes methods;Probabilistic logic;Three-dimensional displays;Smoothing methods;Visualization;Mapping;semantic scene understanding;deep learning for visual perception},
     doi = {10.1109/LRA.2025.3539091},
   }

2024

1. RSS Workshop

   

   Single-View 3D Reconstruction via SO(2)-Equivariant Gaussian Sculpting Networks

   Ruihan Xu, Anthony Opipari, Joshua Mah, and 4 more authors

   In RSS 2024 Workshop on Geometric and Algebraic Structure in Robot Learning, 2024

   Bib PDF Video

   @inproceedings{xu2024soequivariant,
     title = {Single-View 3D Reconstruction via {SO}(2)-Equivariant Gaussian Sculpting Networks},
     author = {Xu, Ruihan and Opipari, Anthony and Mah, Joshua and Lewis, Stanley Robert and Zhang, Haoran and Guo, Hanzhe and Jenkins, Odest Chadwicke},
     booktitle = {RSS 2024 Workshop on Geometric and Algebraic Structure in Robot Learning},
     year = {2024},
     url = {https://arxiv.org/abs/2409.07245},
   }

2. RA-L

   

   Stein Variational Belief Propagation for Multi-Robot Coordination

   Jana Pavlasek, Joshua Jing Zhi Mah, Ruihan Xu, and 2 more authors

   IEEE Robotics and Automation Letters, 2024

   DOI Bib PDF Video Website

   @article{10465621,
     author = {Pavlasek, Jana and Mah, Joshua Jing Zhi and Xu, Ruihan and Jenkins, Odest Chadwicke and Ramos, Fabio},
     journal = {IEEE Robotics and Automation Letters},
     title = {Stein Variational Belief Propagation for Multi-Robot Coordination},
     year = {2024},
     volume = {9},
     number = {5},
     pages = {4194-4201},
     keywords = {Robots;Robot kinematics;Belief propagation;Trajectory;Planning;Collision avoidance;Service robots;Distributed robot systems;probabilistic inference},
     doi = {10.1109/LRA.2024.3375708},
   }