Boyang Sun (孙柏扬)

I am a Computer Science PhD student at the Computer Vision and Geometry Group, at ETH Zurich, under the supervision of Prof. Marc Pollefeys. My reaseach focuses on Robotics and Computer Vision, mainly enabling robot to move and interactive within 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 Department of Mechanical Engineering at ETH Zurich, where I spent time at 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

03/2026 React3D is accepted to RA-L!
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!

Research

	REACT3D: Recovering Articulations for Interactive Physical 3D Scenes Zhao Huang, Boyang Sun, Alexandros Delitzas, Jiaqi Chen, Marc Pollefeys RA-L 2026 paper / IEEE / code / website /
	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 ICRA 2026 paper / code / website / video /
	Loop Closure from Two Views: Revisiting PGO for Scalable Trajectory Estimation through Monocular Priors Tian Yi Lim, Boyang Sun, Marc Pollefeys, Hermann Blum RA-L 2026 paper / code / website /
	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 Preprint 2025 paper / code / website / video /
	ActLoc: Learning to Localize on the Move via Active Viewpoint Selection Jiajie Li, Boyang Sun, Luca Di Giammarino, Hermann Blum, Marc Pollefeys CoRL 2025 paper / code / website / video /
	FrontierNet: Learning Visual Cues to Explore Boyang Sun, Hanzhi Chen, Stefan Leutenegger, Cesar Cadena, Marc Pollefeys, Hermann Blum RA-L 2025 paper / IEEE / code / website / video /
	SuperDec: 3D Scene Decomposition with Superquadric Primitives Elisabetta Fedele, Boyang Sun, Leonidas Guibas, Marc Pollefeys, Francis Engelmann ICCV 2025(Oral) paper / code / website / 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 CVPR 2025 paper / code / website / video /
	ForesightNav: Learning Scene Imagination for Efficient Exploration Hardik Shah, Jiaxu Xing, Nico Messikommer, Boyang Sun, Marc Pollefeys, Davide Scaramuzza CVPRW 2025 paper / code / website /
	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 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 CVPR 2024 paper / code / website /
	Active visual localization for multi-agent collaboration: A data-driven approach Boyang Sun, Matthew Hanlon, Marc Pollefeys, Hermann Blum ICRA 2024 paper / IEEE / poster /
	A 3d mixed reality interface for human-robot teaming Boyang Sun, Jiaqi Chen, Marc Pollefeys, Hermann Blum 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 ICRA 2022 paper / IEEE /