Publications

Selected publications are listed below. For a complete and current record, visit my Google Scholar profile.

* denotes equal contribution.

Equivariant Neural Networks for General Linear Symmetries on Lie Algebras Chankyo Kim*, Sicheng Zhao*, Minghan Zhu, Tzu-Yuan Lin, Maani Ghaffari International Conference on Machine Learning (ICML), 2026 Website Paper Code

A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin, Sangli Teng, Wenjing Li, Maani Ghaffari, Jingang Yi, Yan Gu arXiv, 2026 Paper

Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics Ben Liu, Tzu-Yuan Lin, Wei Zhang, Maani Ghaffari Robotics: Science and Systems (RSS), 2025 Paper

Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng, Tzu-Yuan Lin, William A Clark, Ram Vasudevan, Maani Ghaffari Robotics: Science and Systems (RSS), 2025 Paper

Invariant Filtering for Full-State Estimation of Ground Robots in Non-Inertial Environments Zijian He, Sangli Teng, Tzu-Yuan Lin, Maani Ghaffari, Yan Gu IEEE/ASME Transactions on Mechatronics, 2025 Paper

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 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

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