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Yibin Wu

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3 papers

2 author rows

AAAI Conference 2026 Conference Paper

Biologically-Inspired Evolutionary Domain Symbiosis for Few-shot and Zero-shot Point Cloud Semantic Segmentation

Changshuo Wang
Zhijian Hu
Xiang Fang
Zai Yang Yu
Yibin Wu
Mingkun Xu
Yusong Wang
Xingyu Gao

Few-shot and zero-shot point cloud semantic segmentation aim to accurately segment novel categories using limited or no labeled samples, respectively. However, existing methods face significant challenges including domain shifts between support and query sets and the inability to handle both few-shot and zero-shot scenarios within a unified framework. To address these issues, we propose a biologically-inspired Evolutionary Domain Symbiosis Network EDS-Net for unified few-shot and zero-shot point cloud semantic segmentation. Specifically, inspired by natural symbiotic evolution, we propose a Symbiotic Evolution Module (SEM) that models co-adaptation between support and query features through self-correlation and cross-correlation mechanisms. Second, motivated by genetic crossover mechanisms, we introduce a Vision-Semantic Bridging Module (VSBM) that treats visual prototypes and semantic prototypes as two “parent” individuals, creating fused offspring prototypes through adaptive crossover operations and mutation strategies for zero-shot scenarios. Third, we develop a multi-generational evolutionary optimization framework employing an adaptive gating network to learn optimal fusion weights across different evolutionary stages. Extensive experiments demonstrate that EDS-Net with biological interpretability achieves state-of-the-art performance on both few-shot and zero-shot settings.

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IROS Conference 2025 Conference Paper

DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs

Yibin Wu
Jian Kuang 0004
Shahram Khorshidi
Xiaoji Niu
Lasse Klingbeil
Maren Bennewitz
Heiner Kuhlmann

Robust and accurate proprioceptive state estimation of the main body is crucial for legged robots to execute tasks in extreme environments where exteroceptive sensors, such as LiDARs and cameras, may become unreliable. In this paper, we propose DogLegs, a state estimation system for legged robots that fuses the measurements from a body-mounted inertial measurement unit (Body-IMU), joint encoders, and multiple leg-mounted IMUs (Leg-IMU) using an extended Kalman filter (EKF). The filter system contains the error states of all IMU frames. The Leg-IMUs are used to detect foot contact, thereby providing zero-velocity measurements to update the state of the Leg-IMU frames. Additionally, we compute the relative position constraints between the Body-IMU and Leg-IMUs by the leg kinematics and use them to update the main body state and reduce the error drift of the individual IMU frames. Field experimental results have shown that our proposed DogLegs system achieves better state estimation accuracy compared to the traditional leg odometry method (using only Body-IMU and joint encoders) across various terrains. We make our datasets publicly available to benefit the research community (https://github.com/YibinWu/leg-odometry).

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ICRA Conference 2024 Conference Paper

LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters

Yibin Wu
Tiziano Guadagnino
Louis Wiesmann
Lasse Klingbeil
Cyrill Stachniss
Heiner Kuhlmann

Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for this task. By fusing LiDAR scans and IMU measurements, these systems can reduce the accumulated drift caused by sequentially registering individual LiDAR scans and provide a robust pose estimate. Although effective, LiDAR-inertial odometry systems require proper parameter tuning to be deployed. In this paper, we propose LIO-EKF, a tightly-coupled LiDAR-inertial odometry system based on point-to-point registration and the classical extended Kalman filter scheme. We propose an adaptive data association that considers the relative pose uncertainty, the map discretization errors, and the LiDAR noise. In this way, we can substantially reduce the parameters to tune for a given type of environment. The experimental evaluation suggests that the proposed system performs on par with the state-of-the-art LiDAR-inertial odometry pipelines but is significantly faster in computing the odometry. The source code of our implementation is publicly available (https://github.com/YibinWu/LIO-EKF).

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