Tianyi Zhang | 张天仪

Ph.D. Candidate

Email CV Scholar Github

Hi! My name is Tianyi . I'm a Ph.D. student in Robotics at CMU advised by Prof. Matthew Johnson-Roberson. My research lies in 3D computer vision including physics-based reconstruction, diffusion models, simulation, and 3D foundation models that enable robots to better localize, navigate, and understand their environment. I also do hardware design and prototype especially for robot perception systems.

NEWS & Media Coverage: Our work featured by NOAA.gov (2023); The LINK (Spring 2024); CMU News (May 2024); CMU News (Nov 2024);

Research

Scalable Benchmarking and Robust Learning for Noise-Free Ego-Motion and 3D Reconstruction from Noisy Video

Xiaohao Xu , Tianyi Zhang , Shibo Zhao , Xiang li , Sibo Wang , Yongqi Chen , Ye Li , Bhiksha Raj , Matthew Johnson-Roberson , Sebastian Scherer , Xiaonan Huang

ICLR 2025

paper bibtex code website

RecGS: Removing Water Caustic with Recurrent Gaussian Splatting

Tianyi Zhang , Weiming Zhi , Braden Meyers , Nelson Durrant , Kaining Huang , Joshua Mangelson , Corina Barbalata , Matthew Johnson-Roberson

RA-L 2024, ICRA 2025

paper code bibtex website

DarkGS: Learning Neural Illumination and 3D Gaussians Relighting for Robotic Exploration in the Dark

Tianyi Zhang , Kaining Huang , Weiming Zhi , Matthew Johnson-Roberson

IROS 2024

paper code bibtex website Oral Presentation

Beyond NeRF Underwater: Learning Neural Reflectance Fields for True Color Correction of Marine Imagery

Tianyi Zhang , Matthew Johnson-Roberson

RA-L 2023, ICRA 2024

paper code bibtex video

Learning Cross-Scale Visual Representations for Real-Time Image Geo-Localization

Tianyi Zhang , Matthew Johnson-Roberson

RA-L 2022, ICRA 2022

paper code bibtex

More Research & Projects

RS-ModCubes: Self-reconfigurable, Scalable, Modular Cubic Robots for Underwater Multitasking

Jiaxi Zheng , Guangmin Dai , Botao He , Zhaoyang Mu , Zhaochen Meng , Tianyi Zhang , Weiming Zhi , Dixia Fan

RA-L 2025

paper website

Teaching Periodic Stable Robot Motion Generation via Sketch

Weiming Zhi , Haozhan , Tianyi Zhang , Matthew Johnson-Roberson

RA-L 2024, ICRA 2025

paper

Manipulator-held tool calibration with 3D Foundation Models

Weiming Zhi , Haozhan Tang , Tianyi Zhang , Matthew Johnson-Roberson

RA-L 2024, ICRA 2025

paper

PhotoReg: Photometrically Registering 3D Gaussian Splatting Models

Ziwen Yuan , Tianyi Zhang , Matthew Johnson-Roberson , Weiming Zhi

Under Review

website paper

Embodied-RAG: General non-parametric Embodied Memory for Retrieval and Generation

Quanting Xie , So Yeon Min , Tianyi Zhang , Aarav Bajaj , Ruslan Salakhutdinov , Matthew Johnson-Roberson , Yonatan Bisk

Under Review

website paper

Unifying Scene Representation and Hand-Eye Calibration with 3D Foundation Models

Weiming Zhi , Haozhan Tang , Tianyi Zhang , Matthew Johnson-Roberson

RA-L 2024, ICRA 2025

paper bibtex

Diagrammatic Instructions to Specify Spatial Objectives and Constraints with Applications to Mobile Base Placement

Qilin Sun , Weiming Zhi , Tianyi Zhang , Matthew Johnson-Roberson

IROS 2024

paper bibtex

Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

Hu et al.

arxiv | in submission

paper bibtex

Learning from Demonstration via Probabilistic Diagrammatic Teaching

Weiming Zhi , Tianyi Zhang , Matthew Johnson-Roberson

ICRA 2024

paper Spotlight - IROS 2023 DiffPropRob Workshop

Features in the Point Cloud: An Automatic Approach to High Density LiDAR to Camera Calibration

Tianyi Zhang , Eduardo Iscar , Matthew Johnson-Roberson

Research report for M.S. Robotics degree, University of Michigan

paper

Field Work

Novel-view rendering with NeRF

Florida Keys Aug 2023

Hawaii Sea Oct 2019

Education

Ph.D. Candidate Robotics, Carnegie Mellon University (CMU)
2022-?

M.S. Robotics, University of Michigan, Ann Arbor (UM)
2018-2020

B.Eng. Tianjin University (TJU)

Work Experience

Software Engineer, Refraction AI (~ 1 yr)
Automated Camera-LiDAR-IMU calibration for a delivery robot.

Visiting Undergrad Researcher, Massachuset Institute of Technology (~ 0.5 yr)
Got my first-ever funding from TJU to do my undergrad thesis at MIT working with Dr. Dixia Fan.

Donut Eater & Software Intern, SLAMTEC (2017 Summer)
SLAMTEC build really good LiDARs and Robot platforms. Check it out!

Teaching

Graduate Student Instructor    ROB535 Self-driving Cars: Perception and Control, Fall 2021, UMich
Teaching Assistant    16664 Self-driving Cars: Perception and Control, Spring 2023, CMU
Teaching Assistant    16385 Computer Vision, Fall 2023, CMU

Services

Reviewer: RA-L 2021, 2023; ICRA 2022; KDD 2023; WACV 2024

Thanks Pedro Morgado for this amazing template.

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