Iaroslav V. Ponomarenko

I am a second-year master's student at Peking University's Center on Frontiers of Computing Studies, where I am fortunate to work with Professor Hao Dong at the joint Hyperplane/AGIBot PKU Lab on embodied AI, robotics, large foundation models, and computer vision. Additionally, I am a research intern at AGIBot.

Previously, I obtained an Engineering degree in Information Systems and Technologies from Voronezh Institute of High Technologies, as well as a Technician degree in Automated Information Processing and Control Systems from Borisoglebsk College of Informatics and Computer Engineering.

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News

Research Focus

My research focuses on embodied AI, visual perception, reasoning, and robotic control. I investigate how embodied agents can develop environmental awareness through vision, including affordance understanding [P1, P2, p1, p2] and spatial reasoning [P3], to perform complex manipulation tasks. My current work leverages large multimodal foundation models to explore these challenges.

Service
  • Reviewer:
    • Conference on Robotics: Science and Systems (RSS 2025).
    • IEEE International Conference on Robotics and Automation (ICRA 2025).
  • Student Member, Chinese Association for Artificial Intelligence (CAAI 2024–2029), Certificate.
  • Teaching Assistant, Fundamentals of Artificial Intelligence, Peking University (Spring 2024).

Publications

(*) indicates equal contribution, (†) denotes the corresponding author, and `highlighted` papers are marked with special recognition

[P4]
Title: CrayonRobo – Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation

Authors: Xiaoqi Li, Lingyun Xu, Mingxu Zhang, Jiaming Liu, Yan Shen, Iaroslav Ponomarenko,
Jiahui Xu, Liang Heng, Siyuan Huang, Shanghang Zhang, Hao Dong†

Conference: Conference on Computer Vision and Pattern Recognition (CVPR), 2025

[P3]
Title: SpatialBot – Precise Spatial Understanding with Vision Language Models

Authors: Wenxiao Cai*, Iaroslav Ponomarenko*, Jianhao Yuan, Xiaoqi Li, Wankou Yang,
Hao Dong, Bo Zhao†

Conference: International Conference on Robotics and Automation (ICRA), 2025
Links: Paper | GitHub GitHub Repo stars

[P2]
Title: ManipVQA – Injecting Robotic Affordance and Physically Grounded Information into Multi-Modal Large Language Models

Authors: Siyuan Huang*, Iaroslav Ponomarenko*, Zhengkai Jiang, Xiaoqi Li, Xiaobin Hu,
Peng Gao, Hongsheng Li, Hao Dong†

Featured: [Oral Pitch and Interactive Presentation]
Conference: Conference on Intelligent Robots and Systems (IROS), 2024
Links: View on arXiv | Oral Pitch (YouTube) | Slides | Poster | GitHub GitHub Repo stars

[P1]
Title: Learning Part-Aware Visual Actionable Affordance for 3D Articulated Object Manipulation

Authors: Yuanchen Ju*, Haoran Geng*, Ming Yang*, Yiran Geng, Yaroslav Ponomarenko,
Taewhan Kim, He Wang, Hao Dong†

Featured: [Spotlight Presentation]
Conference: Workshop at the Conference on Computer Vision and Pattern Recognition (CVPR @ 3DVR), 2023
Links: Paper

Preprints
(*) indicates equal contribution, and (†) denotes the corresponding author

[p2]
Title: ManipGPT – Is Affordance Segmentation by Large Vision Models Enough for Articulated Object Manipulation?

Authors: Taewhan Kim, Hojin Bae, Zeming Li, Xiaoqi Li, Iaroslav Ponomarenko, Ruihai Wu,
Hao Dong†

Release: Preprint, 2024
Links: View on arXiv

[p1]
Title: ImageManip – Image-Based Robotic Manipulation with Affordance-Guided Next View Selection

Authors: Xiaoqi Li, Yanzi Wang, Yan Shen, Iaroslav Ponomarenko, Haoran Lu, Qianxu Wang,
Boshi An, Jiaming Liu, Hao Dong†

Release: Preprint, 2023
Links: View on arXiv

Early Research & Publications
(†) indicates the corresponding author

[EP4]

 Sukhanov Alexey, Iaroslav Ponomarenko. “Application of Block Periodization in the Design of Health-Prolonging Training Cycles” (2017) Proceedings of Students and Young Scientists of Russian State University of Physical Education, Sport, Youth and Tourism, 354: 275-279. Paper.

[EP3]

 Sukhanov Alexey, Iaroslav Ponomarenko, Rubin Vladimir†. “The Potential of Instrumental Methods for Medical Soft Tissues Diagnostics in Physical Education and Health-Improving Training” (2016) Fitness-Aerobics-2016, 226: 97-98. Paper.

[EP2]

 Sukhanov Alexey, Iaroslav Ponomarenko, Rubin Vladimir†. “The Study of the Relationships of Methodological Methods Aimed at Inter-Muscular Coordination and Strength Abilities Development Among Women in the First Maturity Period in Health-Improving Training” (2016) Fitness-Aerobics-2016, 226: 98-100. Paper.

[EP1]

 Sukhanov Alexey, Iaroslav Ponomarenko. “Assessment of the Muscle Condition as One of the Physical Health Indicators in the Framework of Physical Education and Health-Improving Training” (2016) Proceedings of Students and Young Scientists of Russian State University of Physical Education, Sport, Youth and Tourism, 279: 78-80. Paper.
Note: Prior research in sports science on training methodologies and physiological diagnostics provides context for my background but has limited direct relevance to my current work in embodied AI.

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Last updated on Monday, March 31, 2025, at 10:57:01 AM.

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