I am currently a fourth-year Ph.D. student at Institute for AI Industry Research (AIR), Tsinghua University, supervised by Prof. Yilun Chen and Prof. Ya-Qin Zhang. I got the B.S. degree from University of Chinese Academy of Sciences (UCAS) in 2022, supervised by Prof. Qingming Huang.

My research interest includes Embodied AI and Autonomous Driving. And I will be committed to the development, optimization and deployment of AI algorithms in real industrial scenarios.

📝 Publications

• Preprint Semi-supervised vision-centric 3d occupancy world model for autonomous driving, Xiang Li, Pengfei Li, Yupeng Zheng, Wei Sun, Yan Wang, Yilun Chen.
• Preprint Unveiling the Surprising Efficacy of Navigation Understanding in End-to-End Autonomous Driving, Zhihua Hua, Junli Wang, Pengfei Li, Qihao Jin, Bo Zhang, Kehua Sheng, Yilun Chen, Zhongxue Gan, Wenchao Ding.
• Preprint OccLLaMA: A Unified Occupancy-Language-Action World Model for Understanding and Generation Tasks in Autonomous Driving, Julong Wei, Shanshuai Yuan, Pengfei Li, Xinyi Quan, Lei Tai, Jieru Zhao, Zhongxue Gan, Wenchao Ding.
• Preprint Afford-x: Generalizable and slim affordance reasoning for task-oriented manipulation, Xiaomeng Zhu, Yuyang Li, Leiyao Cui, Pengfei Li, Huan-ang Gao, Yixin Zhu, Hao Zhao.
• Preprint LiloDriver: A Lifelong Learning Framework for Closed-loop Motion Planning in Long-tail Autonomous Driving Scenarios, Huaiyuan Yao*, Pengfei Li*, Bu Jin, Yupeng Zheng, An Liu, Lisen Mu, Qing Su, Qian Zhang, Yilun Chen, Peng Li.

• Preprint PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planning, Yupeng Zheng, Zebin Xing, Qichao Zhang, Bu Jin, Pengfei Li, Yuhang Zheng, Zhongpu Xia, Kun Zhan, Xianpeng Lang, Yaran Chen, Dongbin Zhao.

• ICCV 2025 World4Drive: End-to-End Autonomous Driving via Intention-aware Physical Latent World Model, Yupeng Zheng, Pengxuan Yang, Zebin Xing, Qichao Zhang, Yuhang Zheng, Yinfeng Gao, Pengfei Li, Teng Zhang, Zhongpu Xia, Peng Jia, Dongbin Zhao.
• IROS 2025 Bench4Merge: A Comprehensive Benchmark for Merging in Realistic Dense Traffic with Micro-Interactive Vehicles, Zhengming Wang, Junli Wang, Pengfei Li, Zhaohan Li, Chunyang Liu, Bo Zhang, Peng Li, Yilun Chen.
• ICRA 2025 Dual-AEB: Synergizing Rule-Based and Multimodal Large Language Models for Effective Emergency Braking, Wei Zhang*, Pengfei Li*, Junli Wang, Bingchuan Sun, Qihao Jin, Guangjun Bao, Shibo Rui, Yang Yu, Wenchao Ding, Peng Li, Yilun Chen.

• AAAI 2025 Learning Point-wise Abstaining Penalty for Point Cloud Anomaly Detection, Shaocong Xu*, Pengfei Li*, Xinyu Liu, Qianpu Sun, Yang Li, Shihui Guo, Zhen Wang, Bo Jiang, Rui Wang, Kehua Sheng, Bo Zhang, Hao Zhao.

• IEEE RA-L P-MapNet: Far-seeing map generator enhanced by both SDMap and HDMap priors, Zhou Jiang, Zhenxin Zhu, Pengfei Li, Huan-ang Gao, Tianyuan Yuan, Yongliang Shi, Hang Zhao, Hao Zhao.
• IEEE RA-L GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping, Yuhang Zheng, Xiangyu Chen, Yupeng Zheng, Songen Gu, Runyi Yang, Bu Jin, Pengfei Li, Chengliang Zhong, Zengmao Wang, Lina Liu, Chao Yang, Dawei Wang, Zhen Chen, Xiaoxiao Long, Meiqing Wang.
• ECCV 2024 TOD3Cap: Towards 3D Dense Captioning in Outdoor Scenes, Bu Jin, Yupeng Zheng, Pengfei Li, Weize Li, Yuhang Zheng, Sujie Hu, Xinyu Liu, Jinwei Zhu, Zhijie Yan, Haiyang Sun, Kun Zhan, Peng Jia, Xiaoxiao Long, Yilun Chen, Hao Zhao.
• ICRA 2024 MonoOcc: Digging into Monocular Semantic Occupancy Prediction, Yupeng Zheng, Xiang Li, Pengfei Li, Yuhang Zheng, Bu Jin, Chengliang Zhong, Xiaoxiao Long, Hao Zhao, Qichao Zhang.
• AAAI 2024 ModWaveMLP: MLP-based mode decomposition and wavelet denoising model to defeat complex structures in traffic forecasting, Ke Sun, Pei Liu, Pengfei Li, Zhifang Liao.
• Knowledge-Based Systems City-scale continual neural semantic mapping with three-layer sampling and panoptic representation, Yongliang Shi, Runyi Yang, Zirui Wu, Pengfei Li, Caiyun Liu, Hao Zhao, Guyue Zhou.
• ICCV 2023INT2: Interactive Trajectory Prediction at Intersections, Zhijie Yan, Pengfei Li, Zheng Fu, Shaocong Xu, Yongliang Shi, Xiaoxue Chen, Yuhang Zheng, Yang Li, Tianyu Liu, Chuxuan Li, Nairui Luo, Xu Gao, Yilun Chen, Zuoxu Wang, Yifeng Shi, Pengfei Huang, Zhengxiao Han, Jirui Yuan, Jiangtao Gong, Guyue Zhou, Hang Zhao, Hao Zhao.
• ICCV 20233D Implicit Transporter for Temporally Consistent Keypoint Discovery, Chengliang Zhong, Yuhang Zheng, Yupeng Zheng, Hao Zhao, Li Yi, Xiaodong Mu, Ling Wang, Pengfei Li, Guyue Zhou, Chao Yang, Xinliang Zhang, Jian Zhao.
• ICCV 2023DQS3D: Densely-matched Quantization-aware Semi-supervised 3D Detection , Huan-ang Gao, Beiwen Tian, Pengfei Li, Hao Zhao, Guyue Zhou.
• CICAI 2023 M2Sim: A Long-Term Interactive Driving Simulator, Zhengxiao Han, Zhijie Yan, Yang Li, Pengfei Li, Yifeng Shi, Nairui Luo, Xu Gao, Yongliang Shi, Pengfei Huang, Jiangtao Gong, Guyue Zhou, Yilun Chen, Hang Zhao, Hao Zhao.
• CICAI 2023 Long-Term Interactive Driving Simulation: MPC to the Rescue, Zhengxiao Han, Zhijie Yan, Yang Li, Pengfei Li, Yifeng Shi, Nairui Luo, Xu Gao, Yongliang Shi, Pengfei Huang, Jiangtao Gong, Guyue Zhou, Yilun Chen, Hang Zhao, Hao Zhao.
• ICRA 2023 Lode: Locally conditioned eikonal implicit scene completion from sparse lidar, Pengfei Li, Ruowen Zhao, Yongliang Shi, Hao Zhao, Jirui Yuan, Guyue Zhou, Ya-Qin Zhang.
• ICRA 2023 Adapt: Action-aware driving caption transformer, Bu Jin, Xinyu Liu, Yupeng Zheng, Pengfei Li, Hao Zhao, Tong Zhang, Yuhang Zheng, Guyue Zhou, Jingjing Liu.
• ICRA 2023 Steps: Joint self-supervised nighttime image enhancement and depth estimation, Yupeng Zheng, Chengliang Zhong, Pengfei Li, Huan-ang Gao, Yuhang Zheng, Bu Jin, Ling Wang, Hao Zhao, Guyue Zhou, Qichao Zhang, Dongbin Zhao.
• ICRA 2023 From semi-supervised to omni-supervised room layout estimation using point clouds, Huan-ang Gao, Beiwen Tian, Pengfei Li, Xiaoxue Chen, Hao Zhao, Guyue Zhou, Yurong Chen, Hongbin Zha.
• ICRA 2023 LATITUDE: Robotic Global Localization with Truncated Dynamic Low-pass Filter in City-scale NeRF, Zhenxin Zhu, Yuantao Chen, Zirui Wu, Chao Hou, Yongliang Shi, Chuxuan Li, Pengfei Li, Hao Zhao, Guyue Zhou.
• ICRA 2023 Unsupervised Road Anomaly Detection with Language Anchors, Beiwen Tian, Mingdao Liu, Huan-ang Gao, Pengfei Li, Hao Zhao and Guyue Zhou.
• NeurIPS 2022 TOIST: Task Oriented Instance Segmentation Transformer with Noun-Pronoun Distillation Supplementary Material, Pengfei Li, Beiwen Tian, Yongliang Shi, Xiaoxue Chen, Hao Zhao, Guyue Zhou, Ya-Qin Zhang.

🏆 Competitions

• ICRA 2023 1st Place in the Preparation and dish Up of an English Breakfast with Robots (PUB.R) competition.

🎖 Honors and Awards

• 2021.12 National Scholarship (Undergraduate) (Top 1%)
• 2020.12 National Scholarship (Undergraduate) (Top 1%)

📖 Educations

• 2022.09 - now, Ph.D. student, Institute for AI Industry Research (AIR), Tsinghua University.
• 2018.09 - 2022.06, Undergraduate, School of Computer Science and Technology, University of Chinese Academy of Sciences.
  • GPA 3.94 / 4.00. Rank 1 / 104.