Industry R&D | NTU
AESV Heavy-Duty Autonomous Sweeper
Full-stack autonomous driving deployed on a 4-ton sweeper at 13 km/h
Autoware UniverseROS2LiDAR CenterPointTensorRTCARLA/UE4+4
View DetailsBuilder · Learner · Researcher · Engineer · Coder
Chunyang Zhao
Builder, researcher, and engineer bridging AI and robotics. Core expertise in autonomous driving, multi-modal sensor fusion, 3D reconstruction, and human-robot interaction. Hands-on with LLM-powered agentic systems, from deep learning training to edge deployment.
Featured Projects
Research and engineering work spanning teleoperation, autonomous driving, 3D reconstruction, and generative AI.
Research | NTU
Multi-Robot Intelligence
Multi-robot coordination, semantic mapping, and leader-follower formation — 3 journal + 5 conference papers
3Journal Papers
5Conference Papers
UAV + UGVPlatforms
4 yearsDuration
Probabilistic Semantic MappingExpectation-MaximizationBayesian Map FusionMulti-Robot LocalizationSemantic Map Matching+5
View Details
Research | NTU
Beyond Video Streaming: Digital Twin Teleoperation at Kbps
3DGS-based robot teleoperation with 360° free-viewpoint rendering at minimal bandwidth
3D Gaussian SplattingUnreal Engine 5ZenohZeroMQLiDAR CenterPoint+3
View DetailsMore Projects
Other Work
Roadside Perception SystemLiDAR-based roadside unit for real-time traffic monitoring · Materials being prepared
Multi-Modal Sensor CalibrationUniversal target-less calibration for LiDAR-camera systems · Materials being prepared
Publications
Peer-reviewed publications at top robotics venues including IROS, ICRA, T-ITS, T-IE, and T-Mech.
Journal Articles
IEEE T-ITS
Yuanzhe Wang, Chunyang Zhao, Jiahao Liang, Mingxing Wen, Yufeng Yue, Danwei Wang
UGV Platoon Cruise ControlInfrastructure-Free Localization
IEEE T-IE
COSEM: Collaborative Semantic Map Matching Framework for Autonomous Robots
Yufeng Yue, Mingxing Wen, Chunyang Zhao, Yuanzhe Wang, Danwei Wang
Multi-Robot Relative LocalizationSemantic Map Matching
IEEE/ASME T-Mech
Collaborative Semantic Understanding and Mapping Framework for Autonomous Systems
Yufeng Yue, Chunyang Zhao, Zhenyu Wu, Chule Yang, Yuanzhe Wang, Danwei Wang
Collaborative Probabilistic Semantic MappingUAV-UGV Distributed Mapping
Conference Papers
2025
IROS 2025
Tele-GS: 3D Gaussian Scene Representation for Low-Bandwidth Teleoperation
Chunyang Zhao, Zeyu Zhou, Haoran Liu, Dogan Kircali, Huan Yang, Chang Boon Low, Yuanzhe Wang, Danwei Wang
Low-Bandwidth TeleoperationLiDAR-Fused 3DGS
2024
IROS 2024
Towards Kbps-level Vehicle Teleoperation via Persistent-Transient Environment Modelling
Chunyang Zhao, Zeyu Zhou, Haoran Liu, Dogan Kircali, Guoyi Chi, Hongming Shen, Yuanzhe Wang, Danwei Wang
Non-Video TeleoperationDigital-Twin Telepresence
ICARCV 2024
Real-Time GNSS Spoofing Detection for Autonomous Vehicles: An Attention-Based Autoencoder Approach
Huan Yang, Guoqiang Liu, Chunyang Zhao, Mingxing Wen, Yuanzhe Wang
GNSS Spoofing DetectionAttention Autoencoder
CIS-RAM 2024
Yichen Zhou, Mingxing Wen, Xun Chen, Chunyang Zhao, Jiajie Guo, Jun Zhang, Yufeng Yue, Yingchong Ma
Sidewalk Delivery RobotSocial-Force Planning
ICRA 2024
MM4MM: Map Matching Framework for Multi-Session Mapping in Ambiguous Environments
Zhenyu Wu, Wei Wang, Chunyang Zhao, Yufeng Yue, Jun Zhang, Hongming Shen, Danwei Wang
Multi-Session Map MergingPerceptually-Degraded Environments
2023
ITSC 2023
Secure Localization of Autonomous Articulated Vehicles: Attack Detection and Recovery
Yuanzhe Wang, Chunyang Zhao, Haoyi Wang, Jun Zhang, Danwei Wang
Articulated Vehicle LocalizationDoS/Spoofing Recovery
ITSC 2023
NTU4DRadLM: 4D Radar-Centric Multi-Modal Dataset for Localization and Mapping
Jun Zhang, Huayang Zhuge, Yiyao Liu, Guohao Peng, Zhenyu Wu, Haoyuan Zhang, Qiyang Lyu, Heshan Li, Chunyang Zhao, Dogan Kircali, Sanat Mharolkar, Xun Yang, Su Yi, Yuanzhe Wang, Danwei Wang
4D Radar-Centric SLAM DatasetAdverse-Weather Robustness
2022
IROS 2022
A Robust Sidewalk Navigation Method for Mobile Robots Based on Sparse Semantic Point Cloud
Mingxing Wen, Yunxiang Dai, Tairan Chen, Chunyang Zhao, Jun Zhang, Danwei Wang
LiDAR-Only Sidewalk NavigationDay-Night Robustness
ICRA 2022
Aerial-Ground Robots Collaborative 3D Mapping in GNSS-Denied Environments
Yufeng Yue, Chunyang Zhao, Yuanzhe Wang, Yi Yang, Danwei Wang
UAV-UGV Collaborative MappingGNSS-Denied Environments
IROS 2022
SectionKey: 3-D Semantic Point Cloud Descriptor for Place Recognition
Shutong Jin, Zhenyu Wu, Chunyang Zhao, Jun Zhang, Guohao Peng, Danwei Wang
LiDAR Place RecognitionViewpoint-Invariant Loop Closure
2020
IROS 2020
Collaborative Semantic Perception and Relative Localization Based on Map Matching
Yufeng Yue, Chunyang Zhao, Mingxing Wen, Zhenyu Wu, Danwei Wang
Multi-Robot Relative LocalizationEM Map Matching
ICRA 2020
A Hierarchical Framework for Collaborative Probabilistic Semantic Mapping
Yufeng Yue, Chunyang Zhao, Ruilin Li, Chule Yang, Jun Zhang, Mingxing Wen, Yuanzhe Wang, Danwei Wang
Hierarchical Collaborative MappingDistributed Bayesian Fusion
2019
CIS-RAM 2019
Probabilistic 3D Semantic Map Fusion Based on Bayesian Rule
Yufeng Yue, Ruilin Li, Chunyang Zhao, Chule Yang, Jun Zhang, Mingxing Wen, Guohao Peng, Zhenyu Wu, Danwei Wang
Multi-Robot Semantic Map FusionBayesian Label & Occupancy Update
ICCA 2019
UAV-based Traffic Flow Estimation and Analysis
Ji Hong, Zhi Gao, Tiancan Mei, Yifan Li, Chunyang Zhao
UAV Traffic MonitoringOptical-Flow Classification
About
CZ
I am a PhD candidate at Nanyang Technological University (NTU), Singapore, specializing in robotics software engineering. My research bridges the gap between autonomous systems and human-robot interaction through novel 3D scene representations and real-time perception systems.
My work spans the full autonomy stack — from low-level sensor fusion and perception to high-level planning and teleoperation interfaces. I have deployed autonomous systems on platforms ranging from research robots to 4-ton industrial sweepers operating in real-world environments.
Beyond robotics, I am passionate about building polished software and exploring the intersection of 3D graphics, AI, and real-time systems.
Research Interests
Autonomous SystemsDigital TwinTeleoperation3D ReconstructionRobot Perception
Autonomous Systems
ROS2 · Autoware · CARLA · Drive-by-Wire
Perception
LiDAR CenterPoint · TensorRT · 3D Object Detection · Tracking
3D Reconstruction
3D Gaussian Splatting · Point Clouds · Mesh Processing · LiDAR-Inertial Odometry
Simulation
Unreal Engine 4/5 · CARLA · Digital Twin · Sensor Simulation
Communication
Zenoh · ZeroMQ · ROS1 Bridge · Fkie Multi Master
Languages
C++ · Python · TypeScript
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