Junyi (Kevin) Ma

About Me

• Ph.D. candidate at IRMV Lab, Shanghai Jiao Tong University | Supervisor: Prof. Hesheng Wang
• M.S. in Mechanical Engineering, Beijing Institute of Technology (2023) | Supervisors: Prof. Guangming Xiong & Prof. Xieyuanli Chen (NUDT)
• B.S. in Mechanical Engineering, Beijing Institute of Technology (2020) | Bachelor Thesis Advisor: Prof. Oliver Dürr (Hochschule Konstanz​)

News

• [Jun. 2025] Four papers are accepted by IROS 2025.
• [Feb. 2025] Our paper Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting is accepted by CVPR 2025. It is a follow-up work of our Cam4DOcc (CVPR 2024).
• [Sep. 2024] I will chair Session Localization I at IROS 2024.
• [Jun. 2024] Our paper A Transferable Perception-guided EMS for Series Hybrid Electric Unmanned Tracked Vehicles is accepted by Energy.
• [Jun. 2024] Our paper Explicit Interaction for Fusion-Based Place Recognition and LCPR: A Multi-Scale Attention-Based LiDAR-Camera Fusion Network for Place Recognition will be presented at IROS 2024.
• [Feb. 2024] Our paper Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications is accepted by CVPR 2024.
• [Feb. 2024] Our paper PC-NeRF: Parent-Child Neural Radiance Fields under Partial Sensor Data Loss in Autonomous Driving Environments is accepted by IEEE Transactions on Intelligent Vehicles.

SELECTED Publications

HOI Prediction

• MMTwin: Novel Diffusion Models for Multimodal 3D Hand Trajectory Prediction
  Junyi Ma, Wentao Bao, Jingyi Xu, Guanzhong Sun, Xieyuanli Chen, Hesheng Wang*
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
  [PDF] [Page] [Code]
  

• Diff-IP2D: Diffusion-Based Hand-Object Interaction Prediction on Egocentric Videos
  Junyi Ma, Jingyi Xu, Xieyuanli Chen, Hesheng Wang*
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
  [PDF] [Code]
  

• MADiff: Motion-Aware Mamba Diffusion Models for Hand Trajectory Prediction on Egocentric Videos
  Junyi Ma#, Xieyuanli Chen#, Wentao Bao, Jingyi Xu, Hesheng Wang*
  arXiv preprint arXiv:2409.02638, 2024.
  [PDF] [Page]

• Zero-Shot Temporal Interaction Localization for Egocentric Videos
  Erhang Zhang#, Junyi Ma#, Yin-Dong Zheng, Yixuan Zhou, Hesheng Wang*
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
  [PDF] [Code]

Place Recognition and SLAM

• OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition
  Junyi Ma, Jun Zhang, Jintao Xu, Rui Ai, Weihao Gu, and Xieyuanli Chen*
  IEEE Robotics and Automation Letters (RA-L), 2022, and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
  [PDF] [Code]
  

• SeqOT: A Spatial-Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data
  Junyi Ma, Xieyuanli Chen, Jingyi Xu, Guangming Xiong*
  IEEE Transactions on Industrial Electronics (TIE), 2022.
  [PDF] [Code]
  

• CVTNet: A Cross-View Transformer Network for Place Recognition Using LiDAR Data
  Junyi Ma, Guangming Xiong, Jingyi Xu, Xieyuanli Chen*
  IEEE Transactions on Industrial Informatics (TII), 2023.
  [PDF] [Code]
  

• LCPR: A Multi-Scale Attention-Based LiDAR-Camera Fusion Network for Place Recognition Mentorship
  Zijie Zhou, Jingyi Xu, Guangming Xiong, Junyi Ma*
  IEEE Robotics and Automation Letters (RA-L), 2023, and presented on IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
  [PDF] [Code]
  

• GSPR: Multimodal Place Recognition Using 3D Gaussian Splatting for Autonomous Driving Equal Contribution
  Zhangshuo Qi#, Junyi Ma#, Jingyi Xu, Zijie Zhou, Luqi Cheng, Guangming Xiong*
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
  [PDF] [Code]
  

• Explicit Interaction for Fusion-Based Place Recognition
  Jingyi Xu, Junyi Ma, Qi Wu, Zijie Zhou, Yue Wang, Xieyuanli Chen, Ling Pei*
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
  [PDF] [Code]
  

• MUC-LOAM: Multi-uncertainty Captured Multi-robot Lidar Odometry and Mapping Framework for Large-scale Environments Supervisor First
  Guangming Xiong*, Junyi Ma, Huilong Yu, Jingyi Xu, Jiahui Xu
  Unmanned Systems (US).
  [PDF] [Code]
  

Point Cloud and Occupancy Forecasting

• Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications
  Junyi Ma#, Xieyuanli Chen#, Jiawei Huang, Jingyi Xu, Zhen Luo, Jintao Xu, Weihao Gu, Rui Ai, Hesheng Wang*
  IEEE/CVF Conf.~on Computer Vision and Pattern Recognition (CVPR), 2024
  [PDF] [Code]
  

• PCPNet: An Efficient and Semantic-Enhanced Transformer Network for Point Cloud Prediction Mentorship
  Zhen Luo, Junyi Ma, Zijie Zhou, Guangming Xiong
  IEEE Robotics and Automation Letters (RA-L), 2023, and IEEE International Conference on Robotics and Automation (ICRA), 2024.
  [PDF] [Code]
  

• Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting
  Jingyi Xu, Xieyuanli Chen, Junyi Ma, Jiawei Huang, Jintao Xu, Yue Wang, Ling Pei*
  IEEE/CVF Conf.~on Computer Vision and Pattern Recognition (CVPR), 2025
  [PDF] [Code]
  

Others

• Mutual Pose Recognition Based on Multiple Cues in Multi-robot Systems
  Junyi Ma, Guangming Xiong*, Jingyi Xu, Jiarui Song, and Dong Sun
  Best paper for IEEE International Conference on Unmanned Systems (ICUS), 2021.
  [PDF] [Code]
  

• PC-NeRF: Parent-Child Neural Radiance Fields under Partial Sensor Data Loss in Autonomous Driving Environments
  Xiuzhong Hu, Guangming Xiong, Zheng Zang, Peng Jia, Yuxuan Han, Junyi Ma*
  IEEE Transactions on Intelligent Vehicles (TIV), 2024.
  [PDF] [Code]
  

Other Contributions

• Pytorch Version for OverlapNet [Code]
  
• Multiple Lidar Calibration [Code]
  
• Active SLAM Based on Information Theory [Code]
  
• Occupancy Grid Mapping [Code]
  
• Stairs Recognition [Code]
  

Datasets

• Haomo Dataset
  The dataset was collected by a mobile robot built by HAOMO.AI Technology company equipped with a HESAI PandarXT 32-beam LiDAR sensor in urban environments of Beijing.
  [Description]

• Cues-Poses Dataset
  A toy dataset about mapping multiple cues to mutual poses of robots.
  [Description]

• Cam4DOcc
  A Benchmark for Camera-Only 4D Occupancy Forecasting.
  [Description]

• CABH Benchmark
  Multiple egocentric videos capturing human hands performing simple object manipulation tasks.​​
  [Description]

Patents

• [China Utility Model] Huilong Yu, Ziang Tian, Junyi Ma, Haotian Dong, Junqiang Xi, and Guangming Xiong. A multifunctional unmanned platform for subterranean space. ZL202123083457.8
• [China Appearance Design] Huilong Yu, Ziang Tian, Junyi Ma, Haotian Dong, Junqiang Xi, and Guangming Xiong. A multifunctional unmanned caterpillar for subterranean space. ZL202130813635.4
• [China Invention Publication] Guangming Xiong, Junyi Ma, Jingyi Xu, and Jiarui Song. A reliability analysis-based multi-robot cooperative localization and mapping method. ZL202110318362.5

Teaching Experiences

• Mentorship on point cloud prediction [Paper]
• Mentorship on LiDAR place recognition [Paper]
• “面向自动驾驶应用的激光雷达地点识别 (LiDAR-Based Place Recognition for Autonomous Driving Applications)” in 深蓝学院 (shenlanxueyuan.com) [link]

Awards

• Outstanding Master’s Thesis, Beijing Institute of Technology, 2023.
• National Scholarship for Graduate Students, Ministry of Education of China, 2022.
• National Scholarship for Undergraduate Students, Ministry of Education of China, 2019.
• Outstanding Master’s Graduates in Beijing, 2023.
• Outstanding Bachelor’s Graduates in Beijing, 2020.
• Best Paper Award at IEEE International Conference on Unmanned Systems (ICUS), 2021.
• Outstanding Paper Presented at the Autonomous Robotic Technology Seminar (ARTS), 2023

Services

• Reviewer of TRO, RA-L, TASE, TCSVT, ICRA, IROS.
• Student Executive Committee Member of Autonomous Robotic Technology Seminar (ARTS).

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