Master Student, Wuhan University (2024-Now)I'm currently a Master Student at LIESMARS, Wuhan University, under the supervision of Prof. Bisheng Yang, Prof. Zhen Dong, and Doctor Jianping Li from NTU in Singapore. Previously, I obtained my B.Eng degree from the School of Geoscience and Info-physics at Central South University in Changsha. My research focuses on enabling robots to achieve highly accurate self-localization and perform high-fidelity 3D reconstruction in unknown environments.
Education
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Wuhan UniversityM.S. in LIESMARSSep. 2024 - present
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Central South UniversityB.S. in Surveying and Mapping Engineering, ranked 1/67Sep. 2020 - Jul. 2024
Honors & Awards
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Second-Class Scholarship2025
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Outstanding Graduate of Central South University2024
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First-Class Scholarship2021 & 2022 & 2023
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Outstanding Student at Central South University2021 & 2022 & 2023
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National Scholarship2023
News
Selected Publications (*Co-First, †Corresponding) (view all )
AWARE: Adaptive Whole-body Active Rotating Control for Enhanced LiDAR-Inertial Odometry under Human-in-the-Loop Interaction
Yizhe Zhang, Jianping Li†, Liangliang Yin, Zhen Dong, Bisheng Yang
Active Control & SLAM
arXiv Preprint 2026
AWARE is a human-in-the-loop active control framework for improving LiDAR-inertial odometry on resource-constrained UAVs in feature-sparse environments. The key idea is to exploit whole-body yaw rotations through an RL-guided differentiable MPC controller, enabling the UAV to actively seek informative viewpoints while preserving flight safety and operator intent.
AWARE: Adaptive Whole-body Active Rotating Control for Enhanced LiDAR-Inertial Odometry under Human-in-the-Loop Interaction
Yizhe Zhang, Jianping Li†, Liangliang Yin, Zhen Dong, Bisheng Yang
Active Control & SLAM
arXiv Preprint 2026
AWARE is a human-in-the-loop active control framework for improving LiDAR-inertial odometry on resource-constrained UAVs in feature-sparse environments. The key idea is to exploit whole-body yaw rotations through an RL-guided differentiable MPC controller, enabling the UAV to actively seek informative viewpoints while preserving flight safety and operator intent.
ARMOR: Adaptive Meshing with Reinforcement Optimization for Real-time 3D Monitoring in Unexposed Scenes
Yizhe Zhang, Jianping Li†, Xin Zhao, Zhen Dong, Bisheng Yang
Adaptive Underground Meshing
arXiv Preprint 2025
ARMOR is a scene-adaptive framework for real-time 3D meshing in unexposed environments such as tunnels, caves, and lava tubes. The key idea is to jointly optimize geometry reconstruction and parameter tuning with spatio-temporal smoothing and reinforcement learning, enabling robust online meshing under diverse and unstructured scene conditions.
ARMOR: Adaptive Meshing with Reinforcement Optimization for Real-time 3D Monitoring in Unexposed Scenes
Yizhe Zhang, Jianping Li†, Xin Zhao, Zhen Dong, Bisheng Yang
Adaptive Underground Meshing
arXiv Preprint 2025
ARMOR is a scene-adaptive framework for real-time 3D meshing in unexposed environments such as tunnels, caves, and lava tubes. The key idea is to jointly optimize geometry reconstruction and parameter tuning with spatio-temporal smoothing and reinforcement learning, enabling robust online meshing under diverse and unstructured scene conditions.
NeRF-based Localization and Meshing with Wearable Laser Scanning System: A Case Study in Underground Environment
Yizhe Zhang, Jianping Li†, Xin Zhao, Youqi Liao, Zhen Dong, Bisheng Yang
Underground Meshing
ISPRS-Annals 2024 Oral
NeRF-based Localization and Meshing is a wearable framework for real-time localization and mesh reconstruction in complex underground environments. The key idea is to couple LiDAR-inertial odometry with a scan-block representation that synchronizes poses and sequential laser frames, enabling efficient NeRF-based meshing with improved local accuracy.
NeRF-based Localization and Meshing with Wearable Laser Scanning System: A Case Study in Underground Environment
Yizhe Zhang, Jianping Li†, Xin Zhao, Youqi Liao, Zhen Dong, Bisheng Yang
Underground Meshing
ISPRS-Annals 2024 Oral
NeRF-based Localization and Meshing is a wearable framework for real-time localization and mesh reconstruction in complex underground environments. The key idea is to couple LiDAR-inertial odometry with a scan-block representation that synchronizes poses and sequential laser frames, enabling efficient NeRF-based meshing with improved local accuracy.