Boyang Sun

Boyang Sun (孙柏扬)

I am a final-year Computer Science PhD student at the Computer Vision and Geometry Group, at ETH Zurich, under the supervision of Prof. Marc Pollefeys. My research focuses on Robotics and Computer Vision, mainly enabling robots to move and interact within the complex 3D world. I also work closely with Prof. Hermann Blum and Dr. Cesar Cadena.

I obtained my Master degree in Robotics, Systems and Control from the Department of Mechanical Engineering at ETH Zurich, where I spent time at the Autonomous Systems Lab, under the supervision of Prof. Roland Siegwart.

In my free time, I enjoy watching movies, traveling and doing sports. I also play guitar with Zurich Drift.

Email / GitHub / Google Scholar / LinkedIn

News

07/2026 Excited to be joining Google DeepMind (London) as a Student Researcher from July 2026 to Jan 2027, focusing on 3D perception for VLA models!
06/2026 Excited to attend ICVSS 2026 in Sicily this July!
06/2026 Memory over Maps is accepted to IROS 2026!
06/2026 Our study on What Matters in RL-based Navigation is accepted to ECCV 2026!
05/2026 OpenFrontier is accepted to RSS 2026! See you in Sydney!
03/2026 React3D is accepted to RA-L!
02/2026 FunRec is accepted to CVPR 2026!
02/2026 Loop Closure from Two Views (2GO) is accepted to RA-L!
02/2026 Sight over Site is accepted to ICRA 2026!
10/2025 Our RA-L paper, FrontierNet and its extension OpenFrontier will be presented at IROS 2025!
08/2025 ActLoc is accepted to CoRL 2025!
06/2025 We will organize the Active Perception Workshop at IROS 2025!
06/2025 SuperDec is accepted to ICCV 2025 (Oral)!
05/2025 FrontierNet is accepted to RA-L 2025!
05/2025 ForesightNav is accepted to CVPR'W 2025!
03/2025 VidBot is accepted to CVPR 2025!
07/2024 Learning Where to Look is accepted to ECCV 2024!
03/2024 I served as a Technical Chair at 3DV 2024!
03/2024 NeRF On-the-go is accepted to CVPR 2024!
01/2024 Multi-agent Active Visual Localization is accepted at ICRA 2024!
01/2024 MR for Human-robot Teaming is accepted at ICRA 2024!
09/2023 See Yourself in Others received Best Paper at IROS 2023 WS!

Publications

* indicates equal contribution, † indicates (co-)mentored student

	LIME: Learning Intent-aware Camera Motion from Egocentric Video Boyang Sun, Jiajie Li, Yung-Hsu Yang, Chenyangguang Zhang, Tim Engelbracht, Sunghwan Hong, Cesar Cadena, Marc Pollefeys, Hermann Blum Preprint, 2026 paper / project page
	OpenFrontier: General Navigation with Visual-Language Grounded Frontiers Esteban Padilla-Cerdio, Boyang Sun*, Marc Pollefeys, Hermann Blum Robotics: Science and Systems (RSS), 2026* paper / code / project page
	What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified FrameworK Hongze Wang†, Boyang Sun, Jiaxu Xing, Fan Yang, Marco Hutter, Dhruv Shah, Davide Scaramuzza, Marc Pollefeys European Conference on Computer Vision (ECCV), 2026 paper / code / project page / video
	REACT3D: Recovering Articulations for Interactive Physical 3D Scenes Zhao Huang†, Boyang Sun, Alexandros Delitzas, Jiaqi Chen, Marc Pollefeys IEEE Robotics and Automation Letters (RA-L), 2026 paper / IEEE / code / project page
	Sight Over Site: Perception-Aware Reinforcement Learning for Efficient Robotic Inspection Richard Kuhlmann†, Jakob Wolfram†, Boyang Sun, Jiaxu Xing, Davide Scaramuzza, Marc Pollefeys, Cesar Cadena IEEE International Conference on Robotics and Automation (ICRA), 2026 paper / code / project page / video
	Loop Closure from Two Views: Revisiting PGO for Scalable Trajectory Estimation through Monocular Priors Tian Yi Lim†, Boyang Sun, Marc Pollefeys, Hermann Blum IEEE Robotics and Automation Letters (RA-L), 2026 paper / code / project page
	ActLoc: Learning to Localize on the Move via Active Viewpoint Selection Jiajie Li, Boyang Sun*, Luca Di Giammarino, Hermann Blum, Marc Pollefeys Conference on Robot Learning (CoRL), 2025* paper / code / project page / video
	FrontierNet: Learning Visual Cues to Explore Boyang Sun, Hanzhi Chen, Stefan Leutenegger, Cesar Cadena, Marc Pollefeys, Hermann Blum IEEE Robotics and Automation Letters (RA-L), 2025 paper / IEEE / code / project page / video
	SuperDec: 3D Scene Decomposition with Superquadric Primitives Elisabetta Fedele, Boyang Sun, Leonidas Guibas, Marc Pollefeys, Francis Engelmann IEEE/CVF International Conference on Computer Vision (ICCV), 2025 (Oral) paper / code / project page / video
	VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation Hanzhi Chen, Boyang Sun, Anran Zhang, Marc Pollefeys, Stefan Leutenegger IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025 paper / code / project page / video
	ForesightNav: Learning Scene Imagination for Efficient Exploration Hardik Shah†, Jiaxu Xing, Nico Messikommer, Boyang Sun, Marc Pollefeys, Davide Scaramuzza IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2025 paper / code / project page
	Learning Where to Look: Self-supervised Viewpoint Selection for Active Localization Using Geometrical Information Luca Di Giammarino, Boyang Sun, Giorgio Grisetti, Marc Pollefeys, Hermann Blum, Daniel Barath European Conference on Computer Vision (ECCV), 2024 paper / code / video
	NeRF On-the-go: Exploiting Uncertainty for Distractor-free NeRFs in the Wild Weining Ren†, Zihan Zhu, Boyang Sun, Jiaqi Chen, Marc Pollefeys, Songyou Peng IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 paper / code / project page
	Active visual localization for multi-agent collaboration: A data-driven approach Boyang Sun, Matthew Hanlon, Marc Pollefeys, Hermann Blum IEEE International Conference on Robotics and Automation (ICRA), 2024 paper / IEEE / poster
	A 3d mixed reality interface for human-robot teaming Boyang Sun, Jiaqi Chen, Marc Pollefeys, Hermann Blum IEEE International Conference on Robotics and Automation (ICRA), 2024 paper / IEEE / code / video
	See yourself in others: Attending multiple tasks for own failure detection Boyang Sun, Jiaxu Xing, Hermann Blum, Roland Siegwart, Cesar Cadena IEEE International Conference on Robotics and Automation (ICRA), 2022 paper / IEEE