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<html>
<head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8" />
<meta
name="viewport"
content="width=device-width, initial-scale=1.0, maximum-scale=1, minimum-scale=1"
/>
<title>He Wang</title>
<link rel="stylesheet" type="text/css" href="./css/home.css" />
</head>
<body>
<div class="main">
<div class="main-head">
<div class="head-pc">
<div class="name">He Wang</div>
<div class="list">
<div class="list-item"><a href="#news">News</a></div>
<div class="list-item">
<a href="#publications">Publications</a>
</div>
<div class="list-item"><a href="#awards">Awards</a></div>
<div class="list-item"><a href="#teaching">Teaching</a></div>
<div class="list-item">
<a href="#professional">Professional Service</a>
</div>
<div class="list-item">
<a href="#opportunities">Opportunities</a>
</div>
</div>
<div class="menu">
<div class="menu-item active">
<a href="https://hughw19.github.io">Home</a>
</div>
<span>/</span>
<div class="menu-item">
<a href="https://PKU-EPIC.github.io">Lab</a>
</div>
</div>
</div>
<div class="head-phone">
<div class="name">He Wang</div>
<svg
class="menu-phone"
xmlns="http://www.w3.org/2000/svg"
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height="19"
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<div class="main-content">
<div class="main-userinfo">
<div class="info">
<div>
<img class="lazy-load" src="./assets/photo1.jpg" alt="" />
<div class="icon-phone">
<a
href="https://scholar.google.com/citations?user=roCAWkoAAAAJ&hl=en"
><img
style="width: 18px; height: 18px"
src="./assets/ic_1.svg"
alt=""
/></a>
<a href="mailto:hewang@pku.edu.cn"
><img
style="width: 19px; height: 15px"
src="./assets/ic_4.svg"
alt=""
/></a>
<a href="https://twitter.com/HughWang19"
><img
style="width: 19px; height: 16px"
src="./assets/ic_3.svg"
alt=""
/></a>
</div>
</div>
<div class="info-right">
<div class="info-title">Prof.He Wang</div>
<p>
Tenure-track Assistant Professor at
<a href="https://english.pku.edu.cn/">Peking University</a>
</p>
<p>
Director of
<i>Embodied Perception and InteraCtion (EPIC) Lab</i>
</p>
<p>Director of <i> PKU-Galbot Joint Lab of Embodied AI</i></p>
<div class="icon">
<a
href="https://scholar.google.com/citations?user=roCAWkoAAAAJ&hl=en"
><img
style="width: 18px; height: 18px"
src="./assets/ic_1.svg"
alt=""
/></a>
<a href="mailto:hewang@pku.edu.cn"
><img
style="width: 19px; height: 15px"
src="./assets/ic_4.svg"
alt=""
/></a>
<a href="https://twitter.com/HughWang19"
><img
style="width: 19px; height: 16px"
src="./assets/ic_3.svg"
alt=""
/></a>
</div>
</div>
</div>
<div class="decs">
<p>
I am a tenure-track assistant professor in the
<a href="https://cfcs.pku.edu.cn/english"
>Center on Frontiers of Computing Studies (CFCS)
</a>
at <a href="https://english.pku.edu.cn/">Peking University.</a> I
founded and lead the
<i>Embodied Perception and InteraCtion (EPIC) Lab</i> with the
mission of developing generalizable skills and embodied multimodal
large model for robots to facilitate embodied AGI.
</p>
<p>
I am also the director of the PKU-Galbot joint lab of Embodied AI
and the BAAI center of Embodied AI. I have published more than 50
papers in top conferences and journals of computer vision,
robotics, and learning, including
CVPR/ICCV/ECCV/TRO/ICRA/IROS/NeurIPS/ICLR/AAAI. My pioneering work
on category-level 6D pose estimation, NOCS, received the 2022
World Artificial Intelligence Conference Youth Outstanding Paper
(WAICYOP) Award, and my work also received ICCV 2023 best paper
finalist, ICRA 2023 outstanding manipulation paper award finalist
and Eurographics 2019 best paper honorable mention.
</p>
<p>
I serve as an associate editor of Image and Vision Computing and
serve as an area chair in CVPR 2022 and WACV 2022. Prior to
joining Peking University, I received my Ph.D. degree from
<a href="https://www.stanford.edu">Stanford University</a> in 2021
under the advisory of Prof.
<a href="http://geometry.stanford.edu/member/guibas/index.html"
>Leonidas J.Guibas</a
>
and my Bachelor's degree from
<a href="http://www.tsinghua.edu.cn/">Tsinghua University</a> in
2014.
</p>
</div>
</div>
</div>
<div class="main-content" style="padding-bottom: 38px">
<div class="main-swiper" id="videos">
<div class="swiper-content">
<div class="slide-source">
<a href="https://pku-epic.github.io/ASGrasp/">
<video id="video1" autoplay loop muted>
<source
src="https://oss-cn-beijing.galbot.com/online/blog/tech6-1.mp4"
type="video/mp4"
/>
</video>
<div id="p1">
Material-agnostic generalized grasping technology, capable of
handling scenes with completely transparent objects with high
success.
</div>
</a>
</div>
<div class="slide-source">
<a href=" https://pku-epic.github.io/DexGraspNet/">
<video id="video2" autoplay loop muted>
<source
src="https://oss-cn-beijing.galbot.com/online/blog/tech7-1.mp4"
type="video/mp4"
/>
</video>
<div id="p2">
《DexGraspNet》ICRA 2023 Best Manipulation Paper
Nominee,Million-level dexterous hands Dataset.
</div>
</a>
</div>
<script>
var video = document.getElementById('video2');
var container = document.getElementById('p2');
container.style.width = video.clientWidth - 56 + 'px';
</script>
<div class="slide-source">
<a href="https://pku-epic.github.io/Open6DOR/">
<video id="video3" autoplay loop muted>
<source
src="https://oss-cn-beijing.galbot.com/online/blog/tech2-1.mp4"
type="video/mp4"
/>
</video>
<div id="p3">
The world's first open command large model system for object
pick-and-place, capable of controlling object orientation:
Open6DOR.
</div>
</a>
</div>
<script>
var video = document.getElementById('video3');
var container = document.getElementById('p3');
container.style.width = video.clientWidth - 56 + 'px';
</script>
<div class="slide-source">
<a href="https://pku-epic.github.io/NaVid/">
<video autoplay muted loop>
<source
src="https://oss-cn-beijing.galbot.com/online/blog/tech3-1.mp4"
type="video/mp4"
/>
</video>
<div>
The world's first generalized embodied navigation large model:
NaVid.
</div>
</a>
</div>
</div>
<div class="swiper-content-phone" id="videos1">
<div class="slide-source">
<a
href="https://oss-cn-beijing.galbot.com/online/blog/tech6-1.mp4"
>
<img src="./assets/play.png" alt="" class="play" />
<video
loop
muted
controlsList="nodownload noPictureInPicture"
x5-video-player-type="h5-page"
id="video1"
poster="https://oss-cn-beijing.galbot.com/online/portal/video/tech6.png"
>
<source
src="https://oss-cn-beijing.galbot.com/online/blog/tech6-1.mp4"
type="video/mp4"
/>
</video>
</a>
<div id="p1">
<a href="https://pku-epic.github.io/ASGrasp/"
>Material-agnostic generalized grasping technology, capable of
handling scenes with completely transparent objects with high
success.
</a>
</div>
</div>
<div class="slide-source">
<a
href="https://oss-cn-beijing.galbot.com/online/blog/tech7-1.mp4"
>
<img src="./assets/play.png" alt="" class="play" />
<video
id="video2"
x5-video-player-type="h5-page"
loop
muted
controlsList="nodownload noPictureInPicture"
poster="https://oss-cn-beijing.galbot.com/online/portal/video/tech7.png"
>
<source
src="https://oss-cn-beijing.galbot.com/online/blog/tech7-1.mp4"
type="video/mp4"
/>
</video>
</a>
<div id="p2">
<a href=" https://pku-epic.github.io/DexGraspNet/"
>《DexGraspNet》ICRA 2023 Best Manipulation Paper
Nominee,Million-level dexterous hands Dataset.
</a>
</div>
</div>
<script>
var video = document.getElementById('video2');
var container = document.getElementById('p2');
container.style.width = video.clientWidth - 56 + 'px';
</script>
<div class="slide-source">
<a
href="https://oss-cn-beijing.galbot.com/online/blog/tech2-1.mp4"
>
<img src="./assets/play.png" alt="" class="play" />
<video
id="video3"
loop
controlsList="nodownload noPictureInPicture"
muted
poster="https://oss-cn-beijing.galbot.com/online/portal/video/tech2.png"
>
<source
src="https://oss-cn-beijing.galbot.com/online/blog/tech2-1.mp4"
type="video/mp4"
/>
</video>
</a>
<div id="p3">
<a href="https://pku-epic.github.io/Open6DOR/">
The world's first open command large model system for object
pick-and-place, capable of controlling object orientation:
Open6DOR.
</a>
</div>
</div>
<script>
var video = document.getElementById('video3');
var container = document.getElementById('p3');
container.style.width = video.clientWidth - 56 + 'px';
</script>
<div class="slide-source">
<a
href="https://oss-cn-beijing.galbot.com/online/blog/tech3-1.mp4"
>
<img src="./assets/play.png" alt="" class="play" />
<video
muted
controlsList="nodownload noPictureInPicture"
loop
poster="https://oss-cn-beijing.galbot.com/online/portal/video/tech3.png"
>
<source
src="https://oss-cn-beijing.galbot.com/online/blog/tech3-1.mp4"
type="video/mp4"
/>
</video>
</a>
<div>
<a href="https://pku-epic.github.io/NaVid/">
The world's first generalized embodied navigation large model:
NaVid.
</a>
</div>
</div>
</div>
</div>
</div>
<div class="main-content">
<div id="news" class="main-news">
<div class="title">NEWS</div>
<ul>
<li>One paper get accepted to TPAMI.</li>
<li>Four papers get accepted to CoRL 2024.</li>
<li>
SAGE,won the <span>Best Paper Award</span> at RSS 2024 SemRob
Workshop.
</li>
<li>Two papers get accepted to IROS 2024.</li>
<li>Two papers get accepted to RSS 2024.</li>
<li>
I accepted an interview from Xinhua News Agency's Economic
Information Daily titled "<a
href="https://h.xinhuaxmt.com/vh512/share/12055247?d=134d8e5&channel=weixin"
>Humanoid Robots Open the Blueprint of Embodied Intelligence</a
>."
</li>
<li>
I accepted an interview from 36Kr titled "<a
href="https://mp.weixin.qq.com/s/xE6xmcuDRbhrGtIqMCzGpQ"
>After the Impact of Large Models on the Humanoid Robot Track, a
Trillion-Dollar Market's New Narrative</a
>."
</li>
<li>
I was invited to participate in CCTV-2's "Dialogue" program on the
theme of "<a
href="https://tv.cctv.com/2024/05/25/VIDECvVzKGwoW4y2w3bkgTLD240525.shtml?spm=C22284.P87019257382.EMqe9pBD7J5t.63"
>Humanoid Robots: Coexisting with Humans</a
>."
</li>
<li>Two papers get accepted to CVPR 2024.</li>
<li>
Three papers get accepted to ICRA 2024 and one paper gets accepted
by RAL.
</li>
<li>
Our 3D dexterous grasping policy learning paper, UniDexGrasp++,
receives<span> ICCV 2023 best paper finalist</span>.
</li>
<li>One paper gets accepted to SIGGRAPH Asia 2023.</li>
<li>
Three papers get accepted to ICCV 2023 with UniDexGrasp++
receiving final reviews of <span>all strong accepts</span> (the
highest ratings).
</li>
<li>
I am invited to be a speaker in
<a href="https://sites.google.com/view/hands2023/home"
>HANDS workshop</a
>
at ICCV 2023.
</li>
<li>
I am invited to be a speaker in
<a href="https://generalist-robots.github.io/speakers/"
>Towards Generalist Robots: Learning Paradigms for Scalable
Skill Acquisition Workshop </a
>at CoRL 2023.
</li>
<li>
I am invited to be a speaker in
<a href="https://sites.google.com/view/rss23-sym"
>Workshop on Symmetries in Robot Learning</a
>
at RSS 2023.
</li>
<li>
Our dexterous grasping synthesis and dataset paper, DexGraspNet,
is selected as a
<span
>finalist of ICRA 2023 outstanding paper in manipulation</span
>
(top 1% of submissions).
</li>
<li>
Seven papers get accepted to CVPR 2023 with GAPartNet
receiving<span> highlight</span> (top 2.5% of submissions) with
final reviews of <span>all accepts</span> (the highest ratings).
</li>
<li>
I am invited to be an associate editor of
<a
href="https://www.sciencedirect.com/journal/image-and-vision-computing"
>Image and Vision Computing</a
>, which ranks top 20 in computer vision journals/conferences on
Google Scholar Metrics.
</li>
<li>
Two papers get accepted to ICLR 2023 with one as<span>
spotlight</span
>.
</li>
<li>Two papers get accepted to ICRA 2023.</li>
<li>
One paper gets accepted to AAAI 2023 as
<span>oral presentation</span>.
</li>
<li>
My first-author CVPR 2019 oral paper,
<a
href="https://openaccess.thecvf.com/content_CVPR_2019/papers/Wang_Normalized_Object_Coordinate_Space_for_Category-Level_6D_Object_Pose_and_CVPR_2019_paper.pdf"
>NOCS</a
>, received
<a href="https://www.worldaic.com.cn/activity#q1"
>2022 World Artificial Intelligence Conference Youth Outstanding
Paper Award</a
>. Top 10 from 155 papers published in top-tier AI conferences and
top journals (Science, Nature Computational Method, etc.) in the
past 3 years.
</li>
<li>One paper gets accepted to T-RO.</li>
<li>One paper gets accepted to ECCV 2022.</li>
<li>
One paper gets accepted to Robotics and Automation Letters (RA-L)
and IROS 2022.
</li>
<li>
My students and I won the <span>first place </span>in the no
external annotation track of
<a href="https://sapien.ucsd.edu/challenges/maniskill2021/"
>SAPIEN Manipulation Skill Challenge 2021</a
>
and will receive $3000 prize and give a winner presentation in
<a
href="https://ai-workshops.github.io/generalizable-policy-learning-in-the-physical-world/"
>ICLR 2022 Generalizable Policy Learning in the Physical World
Workshop</a
>.
</li>
<li>
Two papers are selected to <span>oral presentations</span> in CVPR
2022.
</li>
<li>Seven papers get accepted to CVPR 2022.</li>
<li>...</li>
</ul>
</div>
</div>
<div class="main-content">
<div id="publications" class="main-selected">
<div class="title">SELECTED PUBLICATIONS</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/53.jpg" alt="" />
<div class="item-right">
<div class="item-title">
Towards Robust Probabilistic Modeling on SO(3) via Rotation
Laplace Distribution
</div>
<p>
Yingda Yin*, Jiangran Lyu*, Yang Wang,
<b>He Wang<span>†</span></b
>,<b> Baoquan Chen<span>†</span></b>
</p>
<p class="decs">TPAMI</p>
<div class="button">
<a href="https://arxiv.org/abs/2305.10465">arXiv</a>
<a href="https://pku-epic.github.io/RotationLaplace">Project</a>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/49.png" alt="" />
<div class="item-right">
<div class="item-title">
D3RoMa: Disparity Diffusion-based Depth Sensing for
Material-Agnostic Robotic Manipulation
</div>
<p>
Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Wenbo Cui,
Chengyang Zhao, Xiaomeng Fang, Leonidas Guibas,<b
>He Wang<span>†</span></b
>
</p>
<p class="decs">CoRL 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2409.14365">arXiv</a>
<a href="https://pku-epic.github.io/D3RoMa">Project</a>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/50.png" alt="" />
<div class="item-right">
<div class="item-title">
DexGraspNet 2.0: Learning Generative Dexterous Grasping in
Large-scale Synthetic Cluttered Scenes
</div>
<p>
Jialiang Zhang*, Haoran Liu*, Danshi Li*, Xinqiang Yu*, Haoran
Geng, Yufei Ding, Jiayi Chen, <b>He Wang<span>†</span></b>
</p>
<p class="decs">CoRL 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2410.23004">arXiv</a>
<a href="https://pku-epic.github.io/DexGraspNet2.0">Project</a>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/51.jpg" alt="" />
<div class="item-right">
<div class="item-title">
RAM: Retrieval-Based Affordance Transfer for Generalizable
Zero-Shot Robotic Manipulation
</div>
<p>
Yuxuan Kuang*, Junjie Ye*, Haoran Geng*, Jiageng Mao, Congyue
Deng, Leonidas Guibas, <b>He Wang</b>, Yue Wang
</p>
<p class="decs">CoRL 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2407.04689">arXiv</a>
<a href="https://yxkryptonite.github.io/RAM/">Project</a>
</div>
</div>
</div>
<div class="selected-item">
<a
href="https://oss-cn-beijing.galbot.com/online/video/scissorbot_1.mp4"
><img class="lazy-load" src="./assets/52.jpg" alt=""
/></a>
<div class="item-right">
<div class="item-title">
ScissorBot: Learning Generalizable Scissor Skill for Paper
Cutting via Simulation, Imitation, and Sim2Real
</div>
<p>
Jiangran Lyu, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu,
<b>Yizhou Wang<span>†</span></b
>, <b>He Wang<span>†</span></b>
</p>
<p class="decs">CoRL 2024</p>
<div class="button">
<a href="https://arxiv.org/pdf/2409.13966">arXiv</a>
<a href="https://pku-epic.github.io/ScissorBot">Project</a>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/46.png" alt="" />
<div class="item-right">
<div class="item-title">
Task-Oriented Dexterous Grasp Synthesis via Differentiable Grasp
Wrench Boundary Estimator
</div>
<p>
Jiayi Chen,Yuxing Chen,Jialiang Zhang,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">IROS 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2309.13586" class="arXiv"
>arXiv</a
>
<a
href="https://pku-epic.github.io/TaskDexGrasp/"
class="project"
>Project</a
>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/47.png" alt="" />
<div class="item-right">
<div class="item-title">
Open6DOR: Benchmarking Open-instruction 6-DoF Object
Rearrangement and A VLM-based Approach
</div>
<p>
Yufei Ding,Haoran Geng , Chaoyi Xu ,Xiaomeng Fang,Jiazhao
Zhang,Songlin Wei, Qiyu Dai, Zhizheng Zhang,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">IROS 2024 (<b>Oral Presentation</b>)</p>
<div class="button">
<a href="https://pku-epic.github.io/Open6DOR/" class="project"
>Project</a
>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/1.png" alt="" />
<div class="item-right">
<div class="item-title">
NaVid: Video-based VLM Plans the Next Step for
Vision-and-Language Navigation
</div>
<p>
Jiazhao Zhang, Kunyu Wang ,Rongtao Xu* ,Gengze Zhou ,Yicong Hong
,Xiaomeng Fang ,Qi Wu ,Zhizheng Zhang<span>†</span> ,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">RSS 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2402.15852" class="arXiv"
>arXiv</a
>
<a href="https://pku-epic.github.io/NaVid/" class="project"
>Project</a
>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/2.png" alt="" />
<div class="item-right">
<div class="item-title">
SAGE: Bridging Semantic and Actionable Parts for Generalizable
Manipulation of Articulated Objects
</div>
<p>
Haoran Geng*, Songlin Wei*, Congyue Deng, Bokui Shen,
<b>He Wang<span>†</span></b
>, Leonidas Guibas<span>†</span>
</p>
<p class="decs">RSS 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2312.01307">arXiv</a>
<a href="https://geometry.stanford.edu/projects/sage/"
>Project</a
>
<a
id="misc-a"
href="javascript:hideshow(document.getElementById('misc-a'),document.getElementById('misc'))"
class="bibtex"
>bibtex</a
>
</div>
</div>
</div>
<pre>
<p id="misc" style="font-size:14px; display: none">
@misc{geng2023sage,
title={SAGE: Bridging Semantic and Actionable Parts for GEneralizable Articulated-Object Manipulation under Language Instructions},
author={Haoran Geng and Songlin Wei and Congyue Deng and Bokui Shen and He Wang and Leonidas Guibas},
year={2023},
eprint={2312.01307},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
</p>
</pre>
<div class="selected-item">
<img class="lazy-load" src="./assets/3.png" alt="" />
<div class="item-right">
<div class="item-title">
Enhancing Generalizable 6D Pose Tracking of an In-Hand Object
with Tactile Sensing
</div>
<p>
Yun Liu*, Xiaomeng Xu*, Weihang Chen, Haocheng Yuan,
<b>He Wang</b>, Jing Xu, Rui Chen, Li Yi<span>†</span>
</p>
<p class="decs">RA-L</p>
<div class="button">
<a href="https://arxiv.org/abs/2210.04026" class="arXiv"
>arXiv</a
>
<a href="https://github.com/leolyliu/TEG-Track" class="project"
>Project</a
>
</div>
</div>
</div>
<div class="selected-item">
<a
href="https://oss-cn-beijing.galbot.com/online/video/maskcluster.mp4"
><img class="lazy-load" src="./assets/4.png" alt=""
/></a>
<div class="item-right">
<div class="item-title">
MaskClustering: View Consensus based Mask Graph Clustering for
Open-Vocabulary 3D Instance Segmentation
</div>
<p>
Mi Yan, Jiazhao Zhang, Yan Zhu,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">CVPR 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2401.07745" class="arXiv"
>arXiv</a
>
<a
href="https://pku-epic.github.io/MaskClustering/"
class="project"
>Project</a
>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/5.png" alt="" />
<div class="item-right">
<div class="item-title">
Category-Level Multi-Part Multi-Joint 3D Shape Assembly
</div>
<p>
Yichen Li<span>†</span> ,Kaichun Mo, Yueqi Duan ,
<b>He Wang</b>, Jiequan Zhang, Lin Shao, Wojciech Matusik,
Leonidas Guibas
</p>
<p class="decs">CVPR 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2303.06163" class="arXiv"
>arXiv</a
>
<a
href="https://people.csail.mit.edu/yichenl/projects/joint/"
class="project"
>Project</a
>
<a
id="Category-a"
href="javascript:hideshow(document.getElementById('Category-a'),document.getElementById('Category'))"
class="bibtex"
>bibtex</a
>
</div>
</div>
</div>
<pre>
<p id="Category" style="font-size:14px; display: none">
@article{li2020impartass,
title={Learning 3D Part Assembly from a Single Image},
author={Li, Yichen and Mo, Kaichun and Shao, Lin and Sung, Minghyuk and Guibas, Leonidas},
journal={European conference on computer vision (ECCV 2020)},
year={2020}
}
</p>
</pre>
<div class="selected-item">
<img class="lazy-load" src="./assets/6.png" alt="" />
<div class="item-right">
<div class="item-title">
STOPNet: Multiview-based 6-DoF Suction Detection for Transparent
Objects on Production Lines
</div>
<p>
Yuxuan Kuang*, Qin Han*, Danshi Li, Qiyu Dai, Lian Ding, Dong
Sun, Hanlin Zhao,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">ICRA 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2310.05717" class="arXiv"
>arXiv</a
>
<a href="https://pku-epic.github.io/STOPNet/" class="project"
>Project</a
>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/7.png" alt="" />
<div class="item-right">
<div class="item-title">
GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning
based on Online Grasping Pose Fusion
</div>
<p>
Jiazhao Zhang*, Nandiraju Gireesh*, Jilong Wang, Xiaomeng Fang,
Chaoyi Xu, Weiguang Chen, Liu Dai,
<b>He Wang</b>
</p>
<p class="decs">ICRA 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2309.15459" class="arXiv"
>arXiv</a
>
<a href="https://pku-epic.github.io/GAMMA/" class="project"
>Project</a
>
<a
id="GAMMA-a"
href="javascript:hideshow(document.getElementById('GAMMA-a'),document.getElementById('GAMMA'))"
class="bibtex"
>bibtex</a
>
</div>
</div>
</div>
<pre>
<p id="GAMMA" style="font-size:14px; display: none">
@misc{zhang2023gamma,
title={GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion},
author={Jiazhao Zhang and Nandiraju Gireesh and Jilong Wang and Xiaomeng Fang and Chaoyi Xu and Weiguang Chen and Liu Dai and He Wang},
year={2023},
eprint={2309.15459},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
</p>
</pre>
<div class="selected-item">
<img class="lazy-load" src="./assets/8.png" alt="" />
<div class="item-right">
<div class="item-title">
ASGrasp: Generalizable Transparent Object Reconstruction and
6-DoF Grasp Detection from RGB-D Active Stereo Camera
</div>
<p>
Jun Shi, Yong A, Yixiang Jin, Dingzhe Li, Haoyu Niu, Zhezhu Jin,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">ICRA 2024</p>
<div class="button">
<a href="https://arxiv.org/abs/2405.05648" class="arXiv"
>arXiv</a
>
<a href="https://pku-epic.github.io/ASGrasp/" class="project"
>Project</a
>
</div>
</div>
</div>
<div class="selected-item">
<img class="lazy-load" src="./assets/9.png" alt="" />
<div class="item-right">
<div class="item-title">
UniDexGrasp++: Improving Dexterous Grasping Policy Learning via
Geometry-aware Curriculum and Iterative Generalist-Specialist
Learning
</div>
<p>
Weikang Wan*, Haoran Geng*, Yun Liu, Zikang Shan, Yaodong Yang,
Li Yi,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">
ICCV 2023 (<b>Oral & Best Paper Finalist,</b> final reviews of
all strong accepts)
</p>
<div class="button">
<a href="https://arxiv.org/abs/2304.00464">arXiv</a>
<a href="https://pku-epic.github.io/UniDexGrasp++/">Project</a>
<a
id="UniDexGrasp1-a"
href="javascript:hideshow(document.getElementById('UniDexGrasp1-a'),document.getElementById('UniDexGrasp++'))"
>bibtex
</a>
</div>
</div>
</div>
<pre>
<p id="UniDexGrasp++" style="font-size:14px; display: none">
@article{wan2023unidexgrasp++,
title={UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning},
author={Wan, Weikang and Geng, Haoran and Liu, Yun and Shan, Zikang and Yang, Yaodong and Yi, Li and Wang, He},
journal={arXiv preprint arXiv:2304.00464},
year={2023}
}
</p>
</pre>
<div class="selected-item">
<img class="lazy-load" src="./assets/10.png" alt="" />
<div class="item-right">
<div class="item-title">
GAPartNet: Cross-Category Domain-Generalizable Object Perception
and Manipulation via Generalizable and Actionable Parts
</div>
<p>
Haoran Geng*, Helin Xu*, Chengyang Zhao*, Chao Xu, Li Yi, Siyuan
Huang,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">
CVPR 2023 (<b>Highlight,</b> , final reviews of all accepts)
</p>
<div class="button">
<a href="https://arxiv.org/abs/2211.05272">arXiv</a>
<a href="https://pku-epic.github.io/GAPartNet/">Project</a>
<a
id="GAPartNet-a"
href="javascript:hideshow(document.getElementById('GAPartNet-a'), document.getElementById('GAPartNet'))"
>bibtex
</a>
</div>
</div>
</div>
<pre>
<p id="GAPartNet" style="font-size:14px; display: none">
@article{geng2022gapartnet,
title={GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Parts},
author={Geng, Haoran and Xu, Helin and Zhao, Chengyang and Xu, Chao and Yi, Li and Huang, Siyuan and Wang, He},
journal={arXiv preprint arXiv:2211.05272},
year={2022}
}
</p>
</pre>
<div class="selected-item">
<img class="lazy-load" src="./assets/11.png" alt="" />
<div class="item-right">
<div class="item-title">
3D-Aware Object Goal Navigation via Simultaneous Exploration and
Identification
</div>
<p>
Jiazhao Zhang*, Liu Dai*, Fanpeng Meng, Qingnan Fan, Xuelin
Chen, Kai Xu,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">CVPR 2023</p>
<div class="button">
<a href="https://arxiv.org/pdf/2212.00338.pdf">arXiv</a>
<a href="https://pku-epic.github.io/3D-Aware-ObjectNav/"
>Project</a
>
<a
id="3DNav-a"
href="javascript:hideshow(document.getElementById('3DNav-a'),document.getElementById('3DNav'))"
>bibtex
</a>
</div>
</div>
</div>
<pre>
<p id="3DNav" style="font-size:14px; display: none">
@article{zhang20223d,
title={3D-Aware Object Goal Navigation via Simultaneous Exploration and Identification},
author={Zhang, Jiazhao and Dai, Liu and Meng, Fanpeng and Fan, Qingnan and Chen, Xuelin and Xu, Kai and Wang, He},
journal={arXiv preprint arXiv:2212.00338},
year={2022}
}
</p>
</pre>
<div class="selected-item">
<img class="lazy-load" src="./assets/12.png" alt="" />
<div class="item-right">
<div class="item-title">
UniDexGrasp: Universal Robotic Dexterous Grasping via Learning
Diverse Proposal Generation and Goal-Conditioned Policy
</div>
<p>
Yinzhen Xu*, Weikang Wan*, Jialiang Zhang*, Haoran Liu*, Zikang
Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi
Chen, Tengyu Liu, Li Yi,
<b>He Wang<span>†</span></b>
</p>
<p class="decs">CVPR 2023</p>
<div class="button">
<a href="https://arxiv.org/pdf/2303.00938.pdf">arXiv</a>
<a href="https://pku-epic.github.io/UniDexGrasp/">Project</a>
<a