Xingxing Zuo

Assistant Professor at MBZUAI.

I’m an Assistant Professor (tenure-track) in the Robotics Department at MBZUAI. Prior to this, I was a Postdoc in the Department of Computing and Mathematical Sciences at Caltech. In 2023, I worked as a full-time Visiting Faculty Researcher (Scientist) at Google in the United States. From 2021 to 2023, I was a Postdoctoral Researcher at the Technical University of Munich in Germany. Between 2019 and 2021, I was an academic guest in the Department of Computer Science at ETH Zurich in Switzerland. I also held visiting scholar positions at the University of Delaware, USA (2018), and the University of Technology Sydney, Australia (2017). I received my Ph.D. in 2021 from Zhejiang University in China, graduating with honors. I earned my Bachelor’s degree also with honors, from the University of Electronic Science and Technology of China (UESTC), Chengdu, China, in 2016.

I am hiring highly motivated PhD students, research assistants, and visiting graduate students. Please check this page (or Chinese version) for more details! For application, please send an email to me via xingxingzuo[at]outlook.com with the subject “[Position]+[Name]+[Affiliation]”!


research interests

My research interests include Robotics, 3D computer vision, state estimation, and embodied AI.

My long-term research vision is to enable natural interaction and seamless collaboration between robots and humans in open environments by accurately understanding robot states, surrounding 3D scenes, and action execution.


news

May 31, 2025 Our work “Flying Co-Stereo” is released on Arxiv!
May 1, 2025 Excited to join the Robotics Department at MBZUAI to start my faculty adventure!
Jan 27, 2025 Gaussian-LIC is accepted by ICRA 2025!
Jan 15, 2025 Excited to give a talk about robotic perception at MIT! Many thanks to Prof. Luca Carlone’s group for hosting me!
Jan 8, 2025 Happy to announce that we are going to organize a workshop “Thermal Infrared in Robotics” at ICRA 2025!
Jan 6, 2025 Our paper about thermal depth prediction is accepted by RA-L!
Sep 10, 2024 Serving as an Associate Editor for ICRA 2025, my third consecutive year handling ICRA submissions!
Jul 11, 2024 A paper titled “RIDERS: Radar-Infrared Depth Estimation for Robust Sensing” is accepted by T-ITS!
Jul 4, 2024 FMGS” is accepted by IJCV!
Jul 1, 2024 Two papers are accepted by ECCV 2024!
Jun 12, 2024 NerfVO” is accepted by RA-L!
Feb 27, 2024 A paper titled “Dynamic LiDAR Re-simulation using Compositional Neural Fields” is accepted by CVPR 2024 (Highlight)!
Jan 29, 2024 A paper about “RadarCam-Depth: Radar-Camera Fusion for Depth Estimation with Learned Metric Scale” is accepted by ICRA!
Jan 20, 2024 I join Caltech as a Postdoc Research Associate in CMS department at Caltech, USA!
Jan 16, 2024 A paper about “M2-CLIP: A Multimodal, Multi-task Adapting Framework for Video Action Recognition” is accepted by AAAI and featured as Oral!

academic services

Associate Editor: IEEE Robotics and Automation Letters (RA-L, since March 2022), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, 2022&2023&2024&2025), IEEE International Conference on Robotics and Automation (ICRA, 2023&2024&2025).

Workshop Organizer: Thermal Infrared in Robotics in ICRA 2025.

Program Committee (Area Chair): IEEE MOST 2025; ICRA 2025 Workshop on Foundation Models and Neuro-Symbolic AI for Robotics

Conference Session Chair: IROS 2023.

Guest Editor: Sensors [Special Issue 2023].

Journal Reviewer: IEEE Transactions on Robotics (T-RO), The International Journal of Robotics Research (IJRR), Journal of Field Robotics (J-FR), IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), IEEE Transactions on Automation Science and Engineering (T-ASE), IEEE Robotics and Automation Letters (RA-L), IEEE Transactions on Intelligent Transportation Systems (T-ITS), IEEE Transactions on Industrial Electronics (T-IE), Neurocomputing.

Conference Reviewer: ICRA, IROS, CVPR, ICCV, ECCV, IJCAI


representative talks

  • 2025.03 A talk about “Spatial Intelligent Robots”. Virginia Tech (Blacksburg).
  • 2025.03 A talk about “Spatial Intelligent Robots”. KAUST (Saudi Arabia).
  • 2025.01 A talk about “Robust 3D Perception”. MIT (Boston).
  • 2023.08 A talk about “Robust 3D Perception”. The Chinese University of Hong Kong (ShenZhen).
  • 2023.05 A talk about “Robust 3D Perception”. Upenn Grasp Lab.
  • 2022.06 “Robust 3D Perception with Multi-source Information Fusion”. ETH CVG group.
  • 2022.03 Invited speaker at conference, “Towards the Era of Robust Pose Estimation for Robots”. UPLINLIBS 2022.
  • 2022.03 “Towards the Era of Robust Spatial Perception”. Peking University.

selected publications


Find out my full publication list via Google Scholar.
* co-first author with equal contribution; # Corresponding author.

  1. Flying Co-Stereo: Enabling Long-Range Aerial Dense Mapping via Collaborative Stereo Vision of Dynamic-Baseline Zhaoying Wang, Xingxing Zuo#, and Wei Dong# arXiv preprint arXiv:2506.00546 2025 [Abs] [arXiv] [Webpage]
  1. FMGS: Foundation Model Embedded 3D Gaussian Splatting for Holistic 3D Scene Understanding Xingxing Zuo, Pouya Samangouei, Yunwen Zhou, Yan Di, and Mingyang Li International Journal of Computer Vision (IJCV) 2024 [Abs] [arXiv] [Webpage] [Code]
  2. NeRF-VO: Real-Time Sparse Visual Odometry With Neural Radiance Fields Jens Naumann, Binbin Xu, Stefan Leutenegger, and Xingxing Zuo# IEEE Robotics and Automation Letters (RA-L) 2024 [Abs] [arXiv] [Video] [Webpage] [Code]
  3. Dynamic LiDAR Re-simulation using Compositional Neural Fields Hanfeng Wu, Xingxing Zuo#, Stefan Leutenegger, Or Litany, Konrad Schindle, and Shengyu Huang# IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Highlight, 2024 [Abs] [arXiv] [Video] [Webpage] [Code]
  4. RadarCam-Depth: Radar-Camera Fusion for Depth Estimation with Learned Metric Scale Han Li, Yukai Ma, Yaqing Gu, Kewei Hu, Yong Liu#, and Xingxing Zuo# IEEE International Conference on Robotics and Automation (ICRA) 2024 [Abs] [arXiv] [Video] [Code]
  1. Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline Xiaolei Lang, Chao Chen, Kai Tang, Yukai Ma, Jiajun Lv, Yong Liu#, and Xingxing Zuo# IEEE Robotics and Automation Letters 2023 [Abs] [arXiv] [Video] [Code]
  2. SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo Yingye Xin*, Xingxing Zuo*#, Dongyue Lu, and Stefan Leutenegger IEEE International Symposium on Mixed and Augmented Reality (ISMAR) 2023 [Abs] [arXiv] [Video] [Webpage]
  3. Incremental Dense Reconstruction from Monocular Video with Guided Sparse Feature Volume Fusion Xingxing Zuo, Nan Yang, Nathaniel Merrill, Binbin Xu, and Stefan Leutenegger IEEE Robotics and Automation Letters 2023 [Abs] [arXiv] [Video]
  4. Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM Jiajun Lv, Xiaolei Lang, Jinhong Xu, Mengmeng Wang, Yong Liu#, and Xingxing Zuo# IEEE/ASME Transactions on Mechatronics 2023 [Abs] [arXiv] [Code]
  1. Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras Xiaolei Lang, Jiajun Lv, Jianxin Huang, Yukai Ma, Yong Liu#, and Xingxing Zuo# IEEE Robotics and Automation Letters 2022 [Abs] [arXiv] [Code]
  2. Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems Jiajun Lv*, Xingxing Zuo*, Kewei Hu, Jinhong Xu, Guoquan Huang, and Yong Liu IEEE Transactions on Robotics 2022 [Abs] [arXiv] [Code]
  3. Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation Nathaniel Merrill, Yuliang Guo, Xingxing Zuo, Xinyu Huang, Stefan Leutenegger, Xi Peng, Liu Ren, and Guoquan Huang IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022 [Abs] [arXiv] [Code]
  1. CodeVIO: Visual-inertial odometry with learned optimizable dense depth Xingxing Zuo*, Nathaniel Merrill*, Wei Li, Yong Liu, Marc Pollefeys, and Guoquan Huang Nominated for the "Best Paper Award in Robot Vision (Finalist) of ICRA 2021", IEEE International Conference on Robotics and Automation (ICRA) 2021 [Abs] [arXiv] [Video]
  2. Pose Estimation for Ground Robots: On Manifold Representation, Integration, Reparameterization, and Optimization Mingming Zhang*, Xingxing Zuo*, Yiming Chen, Yong Liu, and Mingyang Li IEEE Transactions on Robotics 2021 [Abs] [arXiv] [Video]
  3. CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System Jiajun Lv, Kewei Hu, Jinhong Xu, Yong Liu, Xiushui Ma, and Xingxing Zuo IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021 [Abs] [arXiv] [Video] [Code]
  4. MBA-VO: Motion Blur Aware Visual Odometry Peidong Liu, Xingxing Zuo, Viktor Larsson, and Marc Pollefeys International Conference on Computer Vision (ICCV), selected as Oral, 2021 [Abs] [arXiv] [Code]
  1. LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking Xingxing Zuo, Yulin Yang, Patrick Geneva, Jiajun Lv, Yong Liu, Guoquan Huang, and Marc Pollefeys IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020 [Abs] [arXiv] [Video] [Video2] [Supp]
  2. Multimodal localization: Stereo over LiDAR map Xingxing Zuo, Wenlong Ye, Yulin Yang, Renjie Zheng, Teresa Vidal-Calleja, Guoquan Huang, and Yong Liu Journal of Field Robotics 2020 [Abs]
  3. Targetless calibration of lidar-imu system based on continuous-time batch estimation Jiajun Lv, Jinhong Xu, Kewei Hu, Yong Liu, and Xingxing Zuo IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020 [Abs] [arXiv] [Video] [Code]
  1. LIC-Fusion: LiDAR-Inertial-Camera Odometry Xingxing Zuo, Patrick Geneva, Woosik Lee, Yong Liu, and Guoquan Huang IEEE/RSJ International Conference on Intelligent Robots and Systems 2019 [Abs] [arXiv] [Video]
  2. Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints Xingxing Zuo*, Mingming Zhang*, Yiming Chen, Yong Liu, Guoquan Huang, and Mingyang Li International Symposium on Robotics Research (ISRR) 2019 [Abs] [arXiv] [Supp]
  3. Visual-Inertial Localization With Prior LiDAR Map Constraints Xingxing Zuo*, Patrick Geneva*, Yulin Yang, Wenlong Ye, Yong Liu, and Guoquan Huang IEEE Robotics and Automation Letters 2019 [Abs] [Video]
    1. Robust visual SLAM with point and line features Xingxing Zuo, Xiaojia Xie, Yong Liu, and Guoquan Huang IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017 [Abs] [arXiv] [Video]