Featured Publications

For the full publication list, please see my Google scholar. :)

Preprints

Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics Ben Liu, Tzu-Yuan Lin, Wei Zhang, Maani Ghaffari arXiv (Accepted for RSS!), 2025 Paper

Proprioceptive Invariant Robot State Estimation Tzu-Yuan Lin, Tingjun Li, Wenzhe Tong, and Maani Ghaffari arXiv (Under Review), 2025 Paper     Code     Video

Journal Articles

Tensegrity Robot Proprioceptive State Estimation With Geometric Constraints Wenzhe Tong, Tzu-Yuan Lin, Jonathan Mi, Yicheng Jiang, Maani Ghaffari, Xiaonan Huang IEEE Robotics and Automation Letters (RA-L), 2024 Paper

A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios Xi Lin, Yewei Huang, Dingyi Sun, Tzu-Yuan Lin, Brendan Englot, Ryan M Eustice, Maani Ghaffari IEEE Access, 2023 Paper     Code

Progress in symmetry preserving robot perception and control through geometry and learning Maani Ghaffari, Ray Zhang, Minghan Zhu, Chien Erh Lin, Tzu-Yuan Lin, Sangli Teng, Tingjun Li, Tianyi Liu, and Jingwei Song Frontiers in Robotics and AI, 2022 Paper

Refereed Conference Papers

Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras Tzu-Yuan Lin, Minghan Zhu, and Maani Ghaffari International Conference on Machine Learning (ICML), 2024 Paper     Code

Legged Robot State Estimation within Non-inertial Environments Zijian He, Sangli Teng, Tzu-Yuan Lin, Maani Ghaffari, and Yan Gu IEEE Conference on Decision and Control (CDC), 2024 Paper

Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, and Maani Ghaffari IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 Paper     Code     Video

A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari IEEE International Conference on Robotics and Automation (ICRA), 2021 Paper     Code     Video

Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events Tzu-Yuan Lin, Ray Zhang, Justin Yu, and Maani Ghaffari Conference on Robot Learning (CoRL), 2021 Paper     Code     Video