Submitted to ICRA 2027
- TRUCE: Route-Guided Recovery with Predictive Continuation for Quadrotor Navigation
- B. Ye and D. Boyle
- Project details
Hello, I'm Boxuan Ye
You can also call me Stephen if you wish
I study robotics and machine learning at Imperial College London. My work spans quadrotor navigation and recovery, physics-constrained wildfire forecasting, teleoperation, and visual perception for manipulation.
Research & Experience
Robotics · AI · Design Engineering
At Imperial, I develop TRUCE with Dr David Boyle for quadrotor navigation. Since July 2026, I have also worked with Junyi Geng at Penn State on UAV teleoperation and robotic manipulation, and Yiwei Lyu at Texas A&M on wildfire prediction. Earlier research placements at Midea Group and KUKA Robotics focused on humanoid teleoperation, visual perception and manipulation.
- TRUCE quadrotor navigation · submitted to ICRA 2027
- UAV and humanoid teleoperation · robotic manipulation
- Physics-constrained wildfire forecasting · 6D pose estimation
Interfaces
Soft technology & calm tools
I’m interested in how technical systems can feel gentle—how robotics, sensing, and datasets can be shaped as quiet, legible tools rather than noisy complexity. My work often focuses on interaction behaviours: micro-feedback, spatial clarity, and the visual organisation of diagrams and control surfaces.
I prototype with a mixture of embedded controllers, RGB-D cameras, motion sensors, and computational pipelines, supported by clean editorial UI layers for debugging, teleoperation, and documentation.
Python
C++
PyTorch
OpenCV
Open3D
ROS / ROS2
MuJoCo
Isaac Gym
Blender
Fusion 360
Projects
Selected works & experiments
Submitted to ICRA 2027
TRUCE: Route-Guided Recovery with Predictive Continuation for Quadrotor Navigation
Persistent route guidance, recovery from measured vehicle state, and predictive continuation checks for quadrotor navigation.
View ProjectResearch in progress
Physics-Constrained Wildfire Spread and Fireline Prediction
Learned spread-rate corrections and differentiable anisotropic Eikonal propagation for fireline and arrival-time forecasting.
View ProjectResearch in progress
UAV Teleoperation and Robotic Manipulation
Operator viewpoints, camera configuration, robotic-arm control and simulation for teleoperation experiments.
View Project
Project completed
Mixed-Reality Humanoid Robot Teleoperation
Vision Pro humanoid teleoperation with spatial anchoring, hand/object tracking, streaming and demonstration recording.
View ProjectPublications
Published work & submitted manuscript
Expert Systems with Applications · 332, 133619 · online 2026; issue 2027
- Real-Gen: Real-Scene-Grounded Generative Augmentation for 6D Object Pose Estimation
- P. Hou, Y. Zhang and B. Ye
IEEE Robotics and Automation Letters · 11(5), 5454–5461 · 2026
- Bridging the Depth Gap: Adaptive Scene-Instance Alignment for Training-Free Depth Refinement in Robotic Manipulation Scenes
- P. Hou, Y. Zhang, B. Ye and Y. Wu
- DOI
Engineering Applications of Artificial Intelligence · 155, 110890 · 2025
- A lightweight network for category-level open-vocabulary object pose estimation with enhanced cross implicit space transformation
- P. Hou, Y. Zhang, W. Zhou, B. Ye and Y. Wu
- DOI
Education Background
Design Engineering at Imperial
My four-year integrated degree combines undergraduate and master’s study, with coursework in machine learning, robotics, computing, data science, electronics and finite element analysis.
2023 - 2027
MEng Design Engineering · First Class (Expected)
Four-year integrated Bachelor’s and Master’s degree
Imperial College London · Dyson School of Design Engineering
Research Interests
A living archive
I maintain a small archive of experiments, diagrams, code notes, dataset runs, and speculative sketches—updated whenever a result feels worth capturing.
- Reliable aerial navigation, recovery and motion planning
- Robot learning, teleoperation and embodied intelligence
- Open-vocabulary perception & 6D pose estimation
- Physics-constrained learning and connectome-inspired control
Beyond Work
Music & inspirations
Band & production
- Bassist in a Chinese rock band and a JPOP band
- Write songs and basslines with performance 10+
Practice playlists
- Vulfpeck — Beastly
- Stevie Wonder — Sir Duke
Recent listens
- Radiohead · in Rainbows
- Deca Joins · 浴室