My research interests focus on Robotics and Embodied AI, particularly the challenges of Open-World Navigation. Traditional robotic algorithms often depend on meticulously crafted geometric and dynamic models, which may struggle to adapt to ever-changing, complex environments. My research demonstrates that developing learning solutions over these static models enables autonomous systems to achieve independent motion estimation, robust spatial scene perception, and reliable, safe navigation. My work involves a combination of novel algorithms and methods (including learning and statistics, signal processing, optimization, geometry, and dynamics modelling) and system implementations (including sensor fusion, hardware-software codesign, computing architecture). My research outcomes have been successfully applied to a diverse range of platforms, from robots, drones, self-driving vehicles to smartphone, smartwatches, and VR/AR devices, supporting their real-world applications in intelligent transportation, emergency rescue and hospital efficiency enhancement.