I am a Ph.D. candidate at IRMV Lab, Shanghai Jiao Tong University, advised by Prof. Hesheng Wang.

My research explores how robots can learn from human behavior and understand dynamic 3D environments, with a focus on visual imitation learning, egocentric hand-object interaction prediction, place recognition, and occupancy forecasting. I am particularly interested in extracting transferable manipulation priors from human egocentric videos to alleviate the robot data bottleneck and support robotic manipulation and world modeling.

🔥 News

• May 2026: Selected as an Outstanding Reviewer of IEEE Robotics and Automation Letters (RA-L).
• May 2026: Uni-Hand has been accepted by T-PAMI.🎉
• Nov. 2025: MADiff has been accepted by T-PAMI.🎉
• Jun. 2025: Four papers have been accepted by IROS 2025.🎉
• Feb. 2025: EfficientOCF has been accepted by CVPR 2025.🎉

📝 Publications

#: Equal contribution, *: Corresponding author.

Learning from Human Videos

Robot Learning from Human Videos: A Survey

Junyi Ma, Erhang Zhang, Haoran Yang, Ditao Li, Chenyang Xu, Guangming Wang, Hesheng Wang*

arXiv, 2026

PDF / Paper List

Uni-Hand: Universal Hand Motion Forecasting in Egocentric Views

Junyi Ma, Wentao Bao, Jingyi Xu, Guanzhong Sun, Yu Zheng, Erhang Zhang, Xieyuanli Chen, Hesheng Wang*

IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2026

PDF / Project / Code

MADiff: Motion-Aware Mamba Diffusion Models for Hand Trajectory Prediction on Egocentric Videos

Junyi Ma#, Xieyuanli Chen#, Wentao Bao, Jingyi Xu, Hesheng Wang*

IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2025

PDF / Project / Code

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

EgoLoc: A Generalizable Solution for Temporal Interaction Localization in Egocentric Videos

Junyi Ma#, Erhang Zhang#, Yin-Dong Zheng, Yuchen Xie, Yixuan Zhou, Hesheng Wang*

arXiv, 2025

PDF / Code

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 / Project / 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

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, Xieyuanli Chen*

IEEE Robotics and Automation Letters (RA-L), 2022; 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

Zijie Zhou, Jingyi Xu, Guangming Xiong, Junyi Ma*

IEEE Robotics and Automation Letters (RA-L), 2024; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

PDF / Code

Point Cloud and Occupancy Forecasting

Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting

Jingyi Xu, Xieyuanli Chen, Junyi Ma, Jiawei Huang, Jintao Xu, Yue Wang, Ling Pei

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025

PDF / Code

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 Conference on Computer Vision and Pattern Recognition (CVPR), 2024

PDF / Code

PCPNet: An Efficient and Semantic-Enhanced Transformer Network for Point Cloud Prediction

Zhen Luo, Junyi Ma, Zijie Zhou, Guangming Xiong Mentorship

IEEE Robotics and Automation Letters (RA-L), 2023; IEEE International Conference on Robotics and Automation (ICRA), 2024

PDF / Code

🏆 Honors and Awards

• Outstanding Reviewer of IEEE Robotics and Automation Letters (RA-L), 2026.
• 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.

🎓 Educations

• Shanghai Jiao Tong University, Ph.D. candidate at IRMV Lab. Supervisor: Prof. Hesheng Wang.
• Beijing Institute of Technology, M.S. in Mechanical Engineering, 2023. Supervisors: Prof. Guangming Xiong and Prof. Xieyuanli Chen.
• Beijing Institute of Technology, B.S. in Mechanical Engineering, 2020. Bachelor thesis advisor: Prof. Oliver Dürr.

📦 Datasets

• Haomo Dataset: mobile-robot LiDAR dataset collected in urban Beijing. Description
• Cues-Poses Dataset: a toy dataset about mapping multiple cues to mutual poses of robots. Description
• Cam4DOcc: benchmark for camera-only 4D occupancy forecasting. Description
• CABH Benchmark: 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

🎤 Invited Talks

• "人类视频驱动的机器人技能学习 (Learning to Manipulate by Watching Humans: Visual Imitation for Robotic Skills)" in ARTS Webinar&深蓝学院 link
• Breakout session "Temporal Interaction Localization for Embodied AI" at Embodied Intelligence Conference 2026 link
• "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 link

🤝 Service

• Reviewer of TRO, TMM, RA-L, TASE, TCSVT, ICRA, and IROS.
• Session Chair for the Localization I session at IROS'24.
• Lead of the Publicity and Translation Group in the Volunteer Department for IROS'25.
• Student Executive Committee Member of Autonomous Robotic Technology Seminar (ARTS).