He Wang

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He Wang

Prof. He Wang

Tenure-track Assistant Professor at Peking University

Director of Embodied Perception and InteraCtion (EPIC) Lab

Director of PKU-Galbot Joint Lab of Embodied AI

I am a tenure-track assistant professor in the Center on Frontiers of Computing Studies (CFCS) at Peking University. I founded and lead the Embodied Perception and InteraCtion (EPIC) Lab, with the mission of developing generalizable skills and embodied multimodal embodied multimodal large models for robots to facilitate embodied AGI.

I am also the founder and CTO of Galbot, a world-leading Embodied AI company that focuses on developing humanoid generalist robots.

NavFoM: The world's first cross-embodiment omnidirectional panoramic navigation foundation model. Its goal is to enable robots to autonomously perceive the world and decide where to go and how to get there entirely on their own in completely unknown environments

DexNDM: A dexterous hand neural dynamics model that, for the first time, enables a general-purpose dexterous hand to stably rotate complex objects—whether elongated, miniature, or irregularly shaped—in any orientation and along any axis.

Any2Track: a two-stage reinforcement learning framework that enables a single policy to accurately track diverse, complex motions while maintaining robust online adaptability to real-world dynamic disturbances.

TrackVLA is a product-level navigation large model introduced by Galbot, capable of pure visual environmental perception and driven by natural language instructions.

GraspVLA is the world's first end-to-end embodied grasping foundation model. Its pre-training is entirely based on billion-scale "vision-language-action" synthetic data.

GroceryVLA is the world's first end-to-end embodied VLA large model designed for the retail industry.

Material-agnostic generalized grasping technology, capable of handling scenes with completely transparent objects with high success.

TrackVLA is a product-level navigation large model introduced by Galbot, capable of pure visual environmental perception and driven by natural language instructions.

GraspVLA is the world's first end-to-end embodied grasping foundation model. Its pre-training is entirely based on billion-scale "vision-language-action" synthetic data.

GroceryVLA is the world's first end-to-end embodied VLA large model designed for the retail industry.

Material-agnostic generalized grasping technology, capable of handling scenes with completely transparent objects with high success.

OPPORTUNITIES

NEWS

Three papers get accepted to ICLR 2026.
One paper gets accepted to RA-L.
I am invited to be a speaker in Humanoids Summit 2025.
Our project, the "Synthetic and real data-driven VLA embodied intelligence large model" was honored with the 2025 World Internet Conference Leading Technology Award.
One paper gets accepted to RA-L.
I have been selected for Fortune magazine's 2025 "China's 40 Under 40 Business Leaders" list.
I have been selected for the 9th "Haiying Talent" program.
Two papers get accepted to NeurIPS,with one selected as a spotlight.
I am invited to be a speaker in Area Chair Workshop at ICCV 2025.
I am invited to be a speaker in the 3rd edition of the TRICKY workshop(Transparent & Reflective Objects in the Wild Challenges) at ICCV 2025.
I am invited to be a speaker in the Workshop on Human-aware Embodied AI at IROS 2025.

Preprint

            
                @article{2025DexNDM,
                  title={DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model},
                  author={ Liu, Xueyi  and  Wang, He  and  Yi, Li },
                  year={2025},
                }

StereoVLA: Enhancing Vision-Language-Action Models with Stereo Vision

Shengliang Deng*, Mi Yan*, Yixin Zheng*, Jiayi Su, WenHao Zhang, Xiaoguang Zhao, Heming Cui, Zhizheng Zhang†, He Wang†

arXiv Project bibtex

            
                @article{2025StereoVLA,
                  title={StereoVLA: Enhancing Vision-Language-Action Models with Stereo Vision},
                  author={ Deng, Shengliang  and  Yan, Mi  and  Zheng, Yixin  and  Su, Jiayi  and  Zhang, Wenhao  and  Zhao, Xiaoguang  and  Cui, Heming  and  Zhang, Zhizheng  and  Wang, He },
                  year={2025},
                }

Track Any Motions under Any Disturbances

Zhikai Zhang*, Jun Guo*, Chao Chen, Jilong Wang, Chenghuai Lin, Yunrui Lian, HanXue, Zhenrong Wang, Maoqi Liu, Jiangran Lyu, Huaping Liu, He Wang, LiYi

arXiv Project bibtex

            
            @misc{zhang2025trackmotionsdisturbances,
              title={Track Any Motions under Any Disturbances}, 
              author={Zhikai Zhang and Jun Guo and Chao Chen and Jilong Wang and Chenghuai Lin and Yunrui Lian and
              Han Xue and Zhenrong Wang and Maoqi Liu and Jiangran Lyu and Huaping Liu and He Wang and Li Yi},
              year={2025},
              eprint={2509.13833},
              archivePrefix={arXiv},
              primaryClass={cs.RO},
              url={https://arxiv.org/abs/2509.13833}, 
            }

TrackVLA++: Unleashing Reasoning and Memory Capabilities in VLA Models for Embodied Visual Tracking

Jiahang Liu*, Yunpeng Qi*, Jiazhao Zhang*, Minghan Li, Shaoan Wang, Kui Wu, Hanjing Ye, Hong Zhang, Zhibo Chen, Fangwei Zhong, Zhizheng Zhang†, He Wang†

arXiv Project bibtex

UrbanVLA: A Vision-Language-Action Model for Urban Micromobility

Anqi Li*, Zhiyong Wang*, Jiazhao Zhang*, Minghan Li, Zhibo Chen, Zhizheng Zhang†, He Wang†

arXiv Project bibtex

            
            @article{li2025urbanvla,
              title={UrbanVLA: A Vision-Language-Action Model for Urban Micromobility},
              author={Li, Anqi and Wang, Zhiyong and Zhang, Jiazhao and Li, Minghan and Qi, Yunpeng and Chen, Zhibo and Zhang, Zhizheng and Wang, He},
              journal={arXiv preprint arXiv:2510.23576},
              year={2025}
            }

MM-Nav: Multi-View VLA Model for Robust Visual Navigation via Multi-Expert Learning

Tianyu Xu*, Jiawei Chen*, Jiazhao Zhang*, Wenyao Zhang, Zekun Qi, Minghan Li, Zhizheng Zhang†, He Wang†

arXiv Project bibtex

            
            @article{xu2025mm,
              title={MM-Nav: Multi-View VLA Model for Robust Visual Navigation via Multi-Expert Learning},
              author={Xu, Tianyu and Chen, Jiawei and Zhang, Jiazhao and Zhang, Wenyao and Qi, Zekun and Li, Minghan and Zhang, Zhizheng and Wang, He},
              journal={arXiv preprint arXiv:2510.03142},
              year={2025}
            }

Robust Differentiable Collision Detection for General Objects

Jiayi Chen*, Wei Zhao, Liangwang Ruan, Baoquan Chen, He Wang†

arXiv Project bibtex

            
                @article{chen2025robust,
                  title={Robust Differentiable Collision Detection for General Objects},
                  author={Chen, Jiayi and Zhao, Wei and Ruan, Liangwang and Chen, Baoquan and Wang, He},
                  journal={arXiv preprint arXiv:2511.06267},
                  year={2025}
                }

SELECTED PUBLICATIONS

OmniSpatial: Towards Comprehensive Spatial Reasoning Benchmark for Vision Language Models

Mengdi Jia*, Zekun Qi*, Shaochen Zhang, Wenyao Zhang, Xinqiang Yu, Jiawei He, He Wang†

ICLR 2026

arXiv Project bibtex

            
            @article{omnispatial25,
              title={OmniSpatial: Towards Comprehensive Spatial Reasoning Benchmark for Vision Language Models},
              author={Jia, Mengdi and Qi, Zekun and Zhang, Shaochen and Zhang, Wenyao and Yu, Xinqiang and He, Jiawei and Wang, He and Yi, Li},
              journal={arXiv preprint arXiv:2506.03135},
              year={2025}
            }

Embodied Navigation Foundation Model

Jiazhao Zhang*, Anqi Li*, Yunpeng Qi*, Minghan Li*, Jiahang Liu, Shaoan Wang, Haoran Liu, Gengze Zhou, Yuze Wu, Xingxing Li, Yuxin Fan, Wenjun Li, Zhibo Chen, Fei Gao, Qi Wu, Zhizheng Zhang†, He Wang†

ICLR 2026

arXiv Project bibtex

            
            @article{zhang2025embodied,
              title={Embodied navigation foundation model},
              author={Zhang, Jiazhao and Li, Anqi and Qi, Yunpeng and Li, Minghan and Liu, Jiahang and 
              Wang, Shaoan and Liu, Haoran and Zhou, Gengze and Wu, Yuze and Li, Xingxing and others},
              journal={arXiv preprint arXiv:2509.12129},
              year={2025}
            }

DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model

Xueyi Liu*, He Wang, Li Yi†

ICLR 2026

arXiv Project bibtex

            
            @article{2025DexNDM,
              title={DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model},
              author={ Liu, Xueyi  and  Wang, He  and  Yi, Li },
              year={2025},
            }

FoldNet: Learning Generalizable Closed-Loop Policy for Garment Folding via Keypoint-Driven Asset and Demonstration Synthesis

Yuxing Chen*, Bowen Xiao*, He Wang†

RA-L

arXiv Project bibtex

            
            @misc{chen2025foldnetlearninggeneralizableclosedloop,
              author={Chen, Yuxing and Xiao, Bowen and Wang, He},
              journal={IEEE Robotics and Automation Letters}, 
              title={FoldNet: Learning Generalizable Closed-Loop Policy for Garment Folding via Keypoint-Driven Asset and Demonstration Synthesis}, 
              year={2026},
              volume={},
              number={},
              pages={1-8},
              keywords={Clothing;Geometry;Imitation learning;Annotations;Trajectory;Training;Synthetic data;Pipelines;Grasping;Filtering;
              Bimanual manipulation;deep learning for visual perception;deep learning in grasping and manipulation},
              doi={10.1109/LRA.2026.3656770}}
            }

Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space

Zhikai Zhang*, Chao Chen*, Han Xue*, Jilong Wang*, Sikai Liang*, Yun Liu*, Zongzhang Zhang*, He Wang, Li Yi†

RA-L

arXiv Project bibtex

            
            @article{DBLP:journals/corr/abs-2505-10918,
              author= {Zhikai Zhang and
                              Chao Chen and
                              Han Xue and
                              Jilong Wang and
                              Sikai Liang and
                              Yun Liu and
                              Zongzhang Zhang and
                              He Wang and
                              Li Yi},
              title= {Unleashing Humanoid Reaching Potential via Real-world-Ready Skill
                              Space},
              journal= {CoRR},
              volume= {abs/2505.10918},
              year= {2025},
              url= {https://doi.org/10.48550/arXiv.2505.10918},
              doi= {10.48550/ARXIV.2505.10918},
              eprinttype= {arXiv},
              eprint= {2505.10918},
              timestamp= {Sun, 29 Jun 2025 10:28:00 +0200},
              biburl= {https://dblp.org/rec/journals/corr/abs-2505-10918.bib},
              bibsource= {dblp computer science bibliography, https://dblp.org}
            }

SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation

Zekun Qi*, Wenyao Zhang*, Yufei Ding*, Runpei Dong, XinQiang Yu, Jingwen Li, Lingyun Xu, Baoyu Li, Xialin He, Guofan Fan, Jiazhao Zhang, Jiawei He, Jiayuan Gu, Xin Jin, Kaisheng Ma, Zhizheng Zhang†, He Wang†, Li Yi†

NeurIPS 2025 (spotlight)

arXiv Project bibtex

            
            bibtex: @article{sofar25,
              title={Sofar: Language-grounded orientation bridges spatial reasoning and object manipulation},
              author={Qi, Zekun and Zhang, Wenyao and Ding, Yufei and Dong, Runpei and Yu, Xinqiang and Li, Jingwen and Xu, Lingyun and Li, Baoyu and He, Xialin and Fan, Guofan and others},
              journal={arXiv preprint arXiv:2502.13143},
              year={2025}
            }

Advancing general robotic manipulation with multimodal foundation models: Anembodied Al paradigm

Shifeng Huang*, He Wang, Xing Zhou, Wenkai Chen, Haibin Yang, Jianwei Zhang†

SCIENCE CHINA Technological Sciences

arXiv bibtex

            
            @article{2025Advancing,
            title={Advancing general robotic manipulation with multimodal foundation models: An embodied AI paradigm},
            author={ Huang, Shifeng  and  Wang, He  and  Zhou, Xing  and  Chen, Wenkai  and  Yang, Haibin  and  Zhang, Jianwei },
            journal={Science China Technological Sciences},
            volume={68},
            number={5},
            year={2025},
          }

TrackVLA: Embodied Visual Tracking in the Wild

Shaoan Wang∗, Jiazhao Zhang∗, Minghan Li, Jiahang Liu, Anqi Li, Kui Wu, Fangwei Zhong, Junzhi Yu, Zhizheng Zhang†, He Wang†

CoRL 2025

arXiv Project bibtex

            
            @article{wang2025trackvla,
              author  = {Wang, Shaoan and Zhang, Jiazhao and Li, Minghan and Liu, Jiahang and Li, Anqi and Wu, Kui and Zhong, Fangwei and Yu, Junzhi and Zhang, Zhizheng and Wang, He},
              title   = {TrackVLA: Embodied Visual Tracking in the Wild},
              journal = {arXiv pre-print},
              year    = {2025},
              url     = {http://arxiv.org/abs/2505.23189}
          }

FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real

Weiheng Liu*, Yuxuan Wan*, Jilong Wang, Yuxuan Kuang, Wenbo Cui, Xuesong Shi, Haoran Li, Dongbin Zhao, Zhizheng Zhang†, He Wang†

CoRL 2025（Oral）

arXiv Project bibtex

GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data

Shengliang Deng*, Mi Yan*, Songlin Wei, Haixin Ma, Yuxin Yang, Jiayi Chen, Zhiqi Zhang, Taoyu Yang, Xuheng Zhang, Heming Cui, Zhizheng Zhang†, He Wang†

CoRL 2025

arXiv Project bibtex

            
            @article{deng2025graspvla,
                title={GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data}, 
                author={Shengliang Deng and Mi Yan and Songlin Wei and Haixin Ma and Yuxin Yang and Jiayi Chen and Zhiqi Zhang and Taoyu Yang and Xuheng Zhang and Wenhao Zhang and Heming Cui and Zhizheng Zhang and He Wang},
                year={2025},
                eprint={2505.03233},
                archivePrefix={arXiv},
                primaryClass={cs.RO},
                url={https://arxiv.org/abs/2505.03233}
            }

DexVLG: Dexterous Vision-Language-Grasp Model at Scale

Jiawei He*, Danshi Li*, Xinqiang Yu*, Zekun Qi, Wenyao Zhang, Jiayi Chen, Zhaoxiang Zhang†, Zhizheng Zhang†, Li Yi†, He Wang†

ICCV 2025（highlight）

arXiv Project bibtex

            
              @misc{he2025dexvlgdexterousvisionlanguagegraspmodel,
                title={DexVLG: Dexterous Vision-Language-Grasp Model at Scale}, 
                author={Jiawei He and Danshi Li and Xinqiang Yu and Zekun Qi and Wenyao Zhang and Jiayi Chen and Zhaoxiang Zhang and Zhizheng Zhang and Li Yi and He Wang},
                year={2025},
                eprint={2507.02747},
                archivePrefix={arXiv},
                primaryClass={cs.CV},
                url={https://arxiv.org/abs/2507.02747}, 
              }

DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation

Jiangran Lyu*, Ziming Li, Xuesong Shi, Chaoyi Xu, Yizhou Wang†, He Wang†

ICCV 2025

arXiv Project bibtex

            
              @article{lyu2025dywa,
                title={DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation},
                author={Lyu, Jiangran and Li, Ziming and Shi, Xuesong and Xu, Chaoyi and Wang, Yizhou and Wang, He},
                journal={arXiv preprint arXiv:2503.16806},
                year={2025}
              }

RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments

Yuxing Chen*, Songlin Wei, Bowen Xiao, Jiangran Lyu, Jiayi Chen, Feng Zhu, He Wang†

RA-L

arXiv Project bibtex

            
              @misc{chen2025robohangerlearninggeneralizablerobotic,
                title={RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments}, 
                author={Yuxing Chen and Songlin Wei and Bowen Xiao and Jiangran Lyu and Jiayi Chen and Feng Zhu and He Wang},
                year={2025},
                eprint={2412.01083},
                archivePrefix={arXiv},
                primaryClass={cs.RO},
                url={https://arxiv.org/abs/2412.01083}, 
              }

Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy

Jiayi Chen*, Yubin Ke*, Lin Peng, He Wang†

RSS 2025

arXiv Project bibtex

            
              @article{chen2025dexonomy,
                title={Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy},
                author={Chen, Jiayi and Ke, Yubin and Peng, Lin and Wang, He},
                journal={Robotics: Science and Systems},
                year={2025}
              }

Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks

Jiazhao Zhang*, Kunyu Wang, Shaoan Wang, Minghan Li, Haoran Liu, Songlin Wei, Zhongyuan Wang, Zhizheng Zhang†, He Wang†

RSS 2025

arXiv Project bibtex

            
              @misc{zhang2024uninavid,
                title={Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks}, 
                author={Jiazhao Zhang and Kunyu Wang and Shaoan Wang and Minghan Li and Haoran Liu and Songlin Wei and Zhongyuan Wang and Zhizheng Zhang and He Wang},
                year={2024},
                journal = {arXiv preprint arXiv:2412.06224}
              }

Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools

Yang You*, Bokui Shen, Congyue Deng, Haoran Geng, Songlin Wei, He Wang, Leonidas Guibas†

RA-L 2025

arXiv Project bibtex

            
              @article{you2023make,
                title={Make a Donut: Language-Guided Hierarchical EMD-Space Planning for Zero-shot Deformable Object Manipulation},
                author={You, Yang and Shen, Bokui and Deng, Congyue and Geng, Haoran and Wang, He and Guibas, Leonidas},
                journal={arXiv preprint arXiv:2311.02787},
                year={2023}
              }

Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection

Enshen Zhou*, Qi Su*, Cheng Chi*†, Zhizheng Zhang, Zhongyuan Wang, Tiejun Huang, Lu Sheng†, He Wang†

CVPR 2025

arXiv Project bibtex

            
              @article{zhou2024code,
                title={Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection},
                author={Zhou, Enshen and Su, Qi and Chi, Cheng and Zhang, Zhizheng and Wang, Zhongyuan and Huang, Tiejun and Sheng, Lu and Wang, He},
                journal={arXiv preprint arXiv:2412.04455},
                year={2024}
            }

MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data

Zifan Wang*, Ziqing Chen*, Junyu Chen*, Jilong Wang, Yuxin Yang, Yunze Liu, Xueyi Liu, He Wang, Li Yi†

CVPR 2025

arXiv Project bibtex

            
              @misc{wang2025mobileh2rlearninggeneralizablehuman,
                  title={MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data}, 
                  author={Zifan Wang and Ziqing Chen and Junyu Chen and Jilong Wang and Yuxin Yang and Yunze Liu and Xueyi Liu and He Wang and Li Yi},
                  year={2025},
                  eprint={2501.04595},
                  archivePrefix={arXiv},
                  primaryClass={cs.RO},
                  url={https://arxiv.org/abs/2501.04595}, 
            }

GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulation

Wenbo Cui*, Chengyang Zhao* , Songlin Wei* , Jiazhao Zhang, Haoran Geng,Yaran Chen, He Wang†

ICRA 2025

arXiv Project bibtex

            
              @article{cui2024gapartmanip,
                title={GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulation},
                author={Cui, Wenbo and Zhao, Chengyang and Wei, Songlin and Zhang, Jiazhao and Geng, Haoran and Chen, Yaran and Wang, He},
                journal={arXiv preprint arXiv:2411.18276},
                year={2024}
              }

BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization

Jiayi Chen*, Yubin Ke*, He Wang†

ICRA 2025

arXiv Project bibtex

            
              @article{chen2024bodex,
                title={BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization},
                author={Chen, Jiayi and Ke, Yubin and Wang, He},
                journal={arXiv preprint arXiv:2412.16490},
                year={2024}
              }

NaVid-4D: Unleashing Spatial Intelligence in Egocentric RGB-D Videos for Vision-and-Language Navigation

Haoran Liu*, Weikang Wan*, Xiqian Yu*, Minghan Li*, Jiazhao Zhang, Bo Zhao, Zhibo Chen, Zhongyuan Wang, Zhizheng Zhang†, He Wang†

ICRA 2025

arXiv Project bibtex

QuadWBG: Generalizable Quadrupedal Whole-Body Grasping

Jilong Wang*, Javokhirbek Rajabov*, Chaoyi Xu, Yiming Zheng, He Wang†

ICRA 2025

arXiv Project bibtex

            
               @inproceedings{2024QuadWBG,
                title={QuadWBG: Generalizable Quadrupedal Whole-Body Grasping},
                author={ Wang, Jilong  and  Rajabov, Javokhirbek  and  Xu, Chaoyi  and  Zheng, Yiming  and  Wang, He },
                year={2024},
              }

Watch Less, Feel More: Direct Sim-to-real RL for Articulated Object Manipulation with Motion Adaptation and Impedance Control

Tan-Dzung Do*, Gireesh Nandiraju, Jilong Wang, He Wang†

ICRA 2025

arXiv Project bibtex

            
               @article{do2025watch,
                title={Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Control},
                author={Do, Tan-Dzung and Gireesh, Nandiraju and Wang, Jilong and Wang, He},
                journal={arXiv preprint arXiv:2502.14457},
                year={2025}
              }

W-ControlUDA: Weather-Controllable Diffusion-assisted Unsupervised Domain Adaptation for Semantic Segmentation

Fengyi Shen*, Li Zhou, Kagan Kucukaytekin, George Eskandar, Ziyuan Liu, He Wang†, Alois Knoll†

RA-L

arXiv bibtex

            
            @article{fengyi_2025,
              title={W-ControlUDA: Weather-Controllable Diffusion-assisted Unsupervised Domain Adaptation for Semantic Segmentation},
              author={Shen, Fengyi and Zhou, Li and Kuecuekaytekin, Kagan and Eskandar, George Basem Fouad and Liu, Ziyuan and Wang, He and Knoll, Alois},
              volume={10},
              url={http://dx.doi.org/10.1109/LRA.2025.3544925},
              doi={10.1109/lra.2025.3544925},
              number={5},
              journal={IEEE Robotics and Automation Letters},
              publisher={Institute of Electrical and Electronics Engineers (IEEE)},
              year={2025},
              month={May},
              pages={4204-4211},
            }

Towards Robust Probabilistic Modeling on SO(3) via Rotation Laplace Distribution

Yingda Yin*, Jiangran Lyu*, Yang Wang, He Wang†, Baoquan Chen†

TPAMI

arXiv Project bibtex

            
            @article{yin2025towards,
              title={Towards robust probabilistic modeling on SO (3) via rotation laplace distribution},
              author={Yin, Yingda and Lyu, Jiangran and Wang, Yang and Liu, Haoran and Wang, He and Chen, Baoquan},
              journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
              year={2025},
              publisher={IEEE},
            }

D³RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation

Songlin Wei*, Haoran Geng, Jiayi Chen, Congyue Deng, Wenbo Cui, Chengyang Zhao, Xiaomeng Fang, Leonidas Guibas, He Wang†

CoRL 2024

arXiv Project bibtex

            
            @inproceedings{
              wei2024droma,
              title={D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation},
              author={Songlin Wei and Haoran Geng and Jiayi Chen and Congyue Deng and Cui Wenbo and Chengyang Zhao and Xiaomeng Fang and Leonidas Guibas and He Wang},
              booktitle={8th Annual Conference on Robot Learning},
              year={2024},
              url={https://openreview.net/forum?id=7E3JAys1xO}
            }

DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes

Jialiang Zhang*, Haoran Liu*, Danshi Li*, Xinqiang Yu*, Haoran Geng, Yufei Ding, Jiayi Chen, He Wang†

CoRL 2024

arXiv Project bibtex

            
             @inproceedings{zhangdexgraspnet,
              title={DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes},
              author={Zhang, Jialiang and Liu, Haoran and Li, Danshi and Yu, XinQiang and Geng, Haoran and Ding, Yufei and Chen, Jiayi and Wang, He},
              booktitle={8th Annual Conference on Robot Learning}
            }

RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation

Yuxuan Kuang*, Junjie Ye*, Haoran Geng*, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, Yue Wang†

CoRL 2024

arXiv Project bibtex

            
             @article{kuang2024ram,
              title={RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation},
              author={Kuang, Yuxuan and Ye, Junjie and Geng, Haoran and Mao, Jiageng and Deng, Congyue and Guibas, Leonidas and Wang, He and Wang, Yue},
              journal={arXiv preprint arXiv:2407.04689},
              year={2024}
            }

ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real

Jiangran Lyu*, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu, Yizhou Wang†, He Wang†

CoRL 2024

arXiv Project bibtex

            
             @inproceedings{lyuscissorbot, 
                title =     {ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real}, 
                author =    {Lyu, Jiangran and Chen, Yuxing and Du, Tao and Zhu, Feng and Liu, Huiquan and Wang, Yizhou and Wang, He},
                booktitle=  {8th Annual Conference on Robot Learning}
              }

Task-Oriented Dexterous Grasp Synthesis via Differentiable Grasp Wrench Boundary Estimator

Jiayi Chen*, Yuxing Chen, Jialiang Zhang, He Wang†

IROS 2024

arXiv Project bibtex

            
            @article{chen2023task,
              title={Task-Oriented Dexterous Grasp Synthesis via Differentiable Grasp Wrench Boundary Estimator},
              author={Chen, Jiayi and Chen, Yuxing and Zhang, Jialiang and Wang, He},
              journal={arXiv preprint arXiv:2309.13586},
              year={2023}
            }

Open6DOR: Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach

Yufei Ding*, Haoran Geng,* Chaoyi Xu, Xiaomeng Fang, Jiazhao Zhang, Songlin Wei, Qiyu Dai, Zhizheng Zhang, He Wang†

IROS 2024 (Oral Presentation)

Project bibtex

            
            @INPROCEEDINGS{10802733,
              author={Ding, Yufei and Geng, Haoran and Xu, Chaoyi and Fang, Xiaomeng and Zhang, Jiazhao and Wei, Songlin and Dai, Qiyu and Zhang, Zhizheng and Wang, He},
              booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
              title={Open6DOR: Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach}, 
              year={2024},
              volume={},
              number={},
              pages={7359-7366},
              keywords={Three-dimensional displays;Benchmark testing;Propulsion;6-DOF;Real-time systems;Artificial intelligence;Intelligent robots;Synthetic data},
              doi={10.1109/IROS58592.2024.10802733}
            }

NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation

Jiazhao Zhang*, Kunyu Wang*, Rongtao Xu*, Gengze Zhou, Yicong Hong, Xiaomeng Fang, Qi Wu, Zhizheng Zhang†, He Wang†

RSS 2024

arXiv Project bibtex

            
            @article{zhang2024navid,
              title={NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation},
              author={Zhang, Jiazhao and Wang, Kunyu and Xu, Rongtao and Zhou, Gengze and Hong, Yicong and Fang, Xiaomeng and Wu, Qi and Zhang, Zhizheng and Wang, He},
              journal={Robotics: Science and Systems},
              year={2024}
            }

SAGE: Bridging Semantic and Actionable Parts for Generalizable Manipulation of Articulated Objects

Haoran Geng*, Songlin Wei*, Congyue Deng, Bokui Shen, He Wang†, Leonidas Guibas†

RSS 2024

arXiv Project bibtex

            
            @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} 
            }

Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensing

Yun Liu*, Xiaomeng Xu*, Weihang Chen, Haocheng Yuan, He Wang, Jing Xu, Rui Chen, Li Yi†

RA-L

arXiv Project bibtex

            
            @ARTICLE{10333330,
              author={Liu, Yun and Xu, Xiaomeng and Chen, Weihang and Yuan, Haocheng and Wang, He and Xu, Jing and Chen, Rui and Yi, Li},
              journal={IEEE Robotics and Automation Letters}, 
              title={Enhancing Generalizable 6D Pose Tracking of an In-Hand Object With Tactile Sensing}, 
              year={2024},
              volume={9},
              number={2},
              pages={1106-1113},
              keywords={Visualization;Kinematics;Sensor fusion;Tracking;Three-dimensional displays;Tactile sensors;Visualization;Robot kinematics;Force and tactile sensing;sensor fusion;visual tracking},
              doi={10.1109/LRA.2023.3337690}
            }

MaskClustering: View Consensus based Mask Graph Clustering for Open-Vocabulary 3D Instance Segmentation

Mi Yan*, Jiazhao Zhang, Yan Zhu, He Wang†

CVPR 2024

arXiv Project bibtex

            
            @INPROCEEDINGS{10658542,
              author={Yan, Mi and Zhang, Jiazhao and Zhu, Yan and Wang, He},
              booktitle={2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, 
              title={MaskClustering: View Consensus Based Mask Graph Clustering for Open-Vocabulary 3D Instance Segmentation}, 
              year={2024},
              volume={},
              number={},
              pages={28274-28284},
              keywords={Measurement;Instance segmentation;Solid modeling;Computer vision;Three-dimensional displays;Shape;Navigation;3D instance segmentation;open-vocabulary},
              doi={10.1109/CVPR52733.2024.02671}
            }

STOPNet: Multiview-based 6-DoF Suction Detection for Transparent Objects on Production Lines

Yuxuan Kuang*, Qin Han*, Danshi Li, Qiyu Dai, Lian Ding, Dong Sun, Hanlin Zhao, He Wang†

ICRA 2024

arXiv Project bibtex

            
            @inproceedings{kuang2023stopnet,
              title={STOPNet: Multiview-based 6-DoF Suction Detection for Transparent Objects on Production Lines},
              author={Kuang, Yuxuan and Han, Qin and Li, Danshi and Dai, Qiyu and Ding, Lian and Sun, Dong and Zhao, Hanlin and Wang, He},
              booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
              year={2024},
              organization={IEEE}
            }

GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion

Jiazhao Zhang*, Nandiraju Gireesh*, Jilong Wang, Xiaomeng Fang, Chaoyi Xu, Weiguang Chen, Liu Dai, He Wang†

ICRA 2024

arXiv Project bibtex

            
            @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}
            }

ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera

Jun Shi*, Yong A, Yixiang Jin, Dingzhe Li, Haoyu Niu, Zhezhu Jin, He Wang†

ICRA 2024

arXiv Project bibtex

            
            @article{shi2024gsnet,
              title={ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera},
              author={Jun Shi, Yong A, Yixiang Jin, Dingzhe Li, Haoyu Niu, Zhezhu Jin, He Wang},
              journal={arXiv preprint arXiv:2405.05648},
              year={2024}
            }

UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning

Weikang Wan*, Haoran Geng*, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, He Wang†

ICCV 2023 (Oral & Best Paper Finalist, final reviews of all strong accepts)

arXiv Project bibtex

            
            @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} 
            }

GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Parts

Haoran Geng*, Helin Xu*, Chengyang Zhao*, Chao Xu, Li Yi, Siyuan Huang, He Wang†

CVPR 2023 (Highlight, final reviews of all accepts)

arXiv Project bibtex

            
              @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}
              }

3D-Aware Object Goal Navigation via Simultaneous Exploration and Identification

Jiazhao Zhang*, Liu Dai*, Fanpeng Meng, Qingnan Fan, Xuelin Chen, Kai Xu, He Wang†

CVPR 2023

arXiv Project bibtex

            
              @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}
              }

UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy

Yinzhen Xu*, Weikang Wan*, Jialiang Zhang*, Haoran Liu*, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, Tengyu Liu, Li Yi, He Wang†

CVPR 2023

arXiv Project bibtex

            
              @article{xu2023unidexgrasp,
                title={UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy},
                author={Xu, Yinzhen and Wan, Weikang and Zhang, Jialiang and Liu, Haoran and Shan, Zikang and Shen, Hao and Wang, Ruicheng and Geng, Haoran and Weng, Yijia and Chen, Jiayi and others},
                journal={arXiv preprint arXiv:2303.00938},
                year={2023}
              }

PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations

Haoran Geng*, Ziming Li*, Yiran Geng, Jiayi Chen, Hao Dong, He Wang†

CVPR 2023

arXiv Project bibtex

            
              @article{geng2023partmanip,
                title={PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations},
                author={Geng, Haoran and Li, Ziming and Geng, Yiran and Chen, Jiayi and Dong, Hao and Wang, He},
                journal={arXiv preprint arXiv:2303.16958},
                year={2023}
              }

Delving into Discrete Normalizing Flows on SO(3) Manifold for Probabilistic Rotation Modeling

Yulin Liu*, Haoran Liu*, Yingda Yin*, Yang Wang, Baoquan Chen†, He Wang†

CVPR 2023

arXiv SO3NF

            
            @article{liu2023delving,
              title={Delving into Discrete Normalizing Flows on SO (3) Manifold for Probabilistic Rotation Modeling},
              author={Liu, Yulin and Liu, Haoran and Yin, Yingda and Wang, Yang and Chen, Baoquan and Wang, He},
              journal={arXiv preprint arXiv:2304.03937},
              year={2023}
            }

DiGA: Distil to Generalize and then Adapt for Domain Adaptive Semantic Segmentation

Fengyi Shen, Akhil Gurram, Ziyuan Liu, He Wang†, Alois Knoll†

CVPR 2023

arXiv bibtex

            
              @article{shen2023diga,
                title={DiGA: Distil to Generalize and then Adapt for Domain Adaptive Semantic Segmentation},
                author={Shen, Fengyi and Gurram, Akhil and Liu, Ziyuan and Wang, He and Knoll, Alois},
                journal={arXiv preprint arXiv:2304.02222},
                year={2023}
              }

Adaptive Zone-aware Hierarchical Planner for Vision-Language Navigation

Chen Gao, Xingyu Peng, Mi Yan, He Wang, Lirong Yang, Haibing Ren, Hongsheng Li, Si Liu

CVPR 2023

arXiv (soon)

DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation

Ruicheng Wang*, Jialiang Zhang*, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, He Wang†

ICRA 2023 (Outstanding Manipulation Paper Award Finalist)

arXiv Project bibtex

            
              @article{2210.02697,
                title = {DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation},
                author = {Ruicheng Wang and Jialiang Zhang and Jiayi Chen and Yinzhen Xu and Puhao Li and Tengyu Liu and He Wang},
                journal={arXiv preprint arXiv:2210.02697},
                year = {2022}
              }

GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF

Qiyu Dai*, Yan Zhu*, Yiran Geng, Ciyu Ruan, Jiazhao Zhang, He Wang†

ICRA 2023

arXiv Project bibtex

            
              @article{dai2022graspnerf,
                title={GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF},
                author={Dai, Qiyu and Zhu, Yan and Geng, Yiran and Ruan, Ciyu and Zhang, Jiazhao and Wang, He},
                journal={arXiv preprint arXiv:2210.06575},
                year={2022}
              }

A Laplace-inspired Distribution on SO(3) for Probabilistic Rotation Estimation

Yingda Yin, Yang Wang, He Wang†, Baoquan Chen†

ICLR 2023 (notable top 25%)

Paper bibtex

            
              @inproceedings{
                yin2023a,
                title={A Laplace-inspired Distribution on {SO}(3) for Probabilistic Rotation Estimation},
                author={Yingda Yin and Yang Wang and He Wang and Baoquan Chen},
                booktitle={The Eleventh International Conference on Learning Representations },
                year={2023},
                url={https://openreview.net/forum?id=Mvetq8DO05O}
              }

Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild

Jiayi Chen*, Mi Yan*, Jiazhao Zhang, Yenzhen Xu, Xiaolong Li, Yijia Weng, Li Yi, Shuran Song, He Wang†

AAAI 2023 (Oral Presentation)

arXiv Project bibtex

            
              @article{chen2022tracking,
                title={Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild},
                author={Chen, Jiayi and Yan, Mi and Zhang, Jiazhao and Xu, Yinzhen and Li, Xiaolong and Weng, Yijia and Yi, Li and Song, Shuran and Wang, He},
                journal={arXiv preprint arXiv:2209.12009},
                year={2022}
              }

ASRO-DIO: Active Subspace Random Optimization Based Depth Inertial Odometry

Jiazhao Zhang, Yijie Tang, He Wang, Kai Xu

IEEE Transactions on Robotics (T-RO)

Paper

Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objects

Qiyu Dai*, Jiyao Zhang*, Qiwei Li, Tianhao Wu, Hao Dong, Ziyuan Liu, Ping Tan, He Wang†

ECCV 2022

arXiv Project Code bibtex

            
              @article{dai2022domain,
                title={Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objects},
                author={Dai, Qiyu and Zhang, Jiyao and Li, Qiwei and Wu, Tianhao and Dong, Hao and Liu, Ziyuan and Tan, Ping and Wang, He},
                journal={arXiv preprint arXiv:2208.03792},
                year={2022}
              }

Learning Category-Level Generalizable Object Manipulation Policy via Generative Adversarial Self-Imitation Learning from Demonstrations

Hao Shen*, Weikang Wan*, He Wang†

Robotics and Automation Letters (RA-L) and IROS 2022

1st prize winner of SAPIEN ManiSkill Challenge 2021 (no external annotation track)

arXiv Project Code bibtex

            
              @article{shen2022learning,
                title={Learning Category-Level Generalizable Object Manipulation Policy via Generative Adversarial Self-Imitation Learning from Demonstrations},
                author={Shen, Hao and Wan, Weikang and Wang, He},
                journal={arXiv preprint arXiv:2203.02107},
                year={2022}
              }

FisherMatch: Semi-Supervised Rotation Regression via Entropy-based Filtering

Yingda Yin, Yingcheng Cai, He Wang†, Baoquan Chen†

CVPR 2022 (Oral Presentation)

arXiv Project Code bibtex

            
              @article{yin2022fishermatch,
                title={FisherMatch: Semi-Supervised Rotation Regression via Entropy-based Filtering},
                author={Yin, Yingda and Cai, Yingcheng and Wang, He and Chen, Baoquan},
                journal={arXiv preprint arXiv:2203.15765},
                year={2022}
              }

Projective Manifold Gradient Layer for Deep Rotation Regression

Jiayi Chen, Yingda Yin, Tolga Birdal, Baoquan Chen, Leonidas Guibas, He Wang†

CVPR 2022

arXiv Project Code bibtex

            
              @article{chen2021projective,
                title={Projective Manifold Gradient Layer for Deep Rotation Regression},
                author={Chen, Jiayi and Yin, Yingda and Birdal, Tolga and Chen, Baoquan and Guibas, Leonidas and Wang, He},
                journal={arXiv preprint arXiv:2110.11657},
                year={2021}
              }

ADeLA: Automatic Dense Labeling with Attention for Viewpoint Adaptation in Semantic Segmentation

Yanchao Yang*†, Hanxiang Ren*, He Wang, Bokui Shen, Qingnan Fan, Youyi Zheng†, C Karen Liu, Leonidas Guibas

CVPR 2022 (Oral Presentation)

arXiv bibtex

            
              @article{yang2021adela,
                title={ADeLA: Automatic Dense Labeling with Attention for Viewpoint Adaptation in Semantic Segmentation},
                author={Yang, Yanchao and Ren, Hanxiang and Wang, He and Shen, Bokui and Fan, Qingnan and Zheng, Youyi and Liu, C Karen and Guibas, Leonidas},
                journal={arXiv preprint arXiv:2107.14285},
                year={2021}
              }

HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction

Yunze Liu, Yun Liu, Che Jiang, Kangbo Lyu, Weikang Wan, Hao Shen, Boqiang Liang, Zhoujie Fu, He Wang, Li Yi

CVPR 2022

arXiv bibtex

            
              @article{liu2022hoi4d,
                title={HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction},
                author={Liu, Yunze and Liu, Yun and Jiang, Che and Fu, Zhoujie and Lyu, Kangbo and Wan, Weikang and Shen, Hao and Liang, Boqiang and Wang, He and Yi, Li},
                journal={arXiv preprint arXiv:2203.01577},
                year={2022}
              }

Multi-Robot Active Mapping via Neural Bipartite Graph Matching

Kai Ye*, Siyan Dong*, Qingnan Fan, He Wang, Li Yi, Fei Xia, Jue Wang, Baoquan Chen

CVPR 2022

arXiv bibtex

            
              @article{ye2022multi,
                title={Multi-Robot Active Mapping via Neural Bipartite Graph Matching},
                author={Ye, Kai and Dong, Siyan and Fan, Qingnan and Wang, He and Yi, Li and Xia, Fei and Wang, Jue and Chen, Baoquan},
                journal={arXiv preprint arXiv:2203.16319},
                year={2022}
              }

Leveraging SE(3) Equivariance for Self-supervised Category-Level Object Pose Estimation from Point Clouds

Xiaolong Li, Yijia Weng, Li Yi, Leonidas J. Guibas, A. Lynn Abbott, Shuran Song, He Wang†

NeurIPS 21

Paper arXiv Project Code bibtex

            
              @article{li2021leveraging,
                title={Leveraging SE (3) Equivariance for Self-supervised Category-Level Object Pose Estimation from Point Clouds},
                author={Li, Xiaolong and Weng, Yijia and Yi, Li and Guibas, Leonidas J and Abbott, A and Song, Shuran and Wang, He},
                journal={Advances in Neural Information Processing Systems},
                volume={34},
                year={2021}
              }

CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Clouds

Yijia Weng*, He Wang*†, Qiang Zhou, Yuzhe Qin, Yueqi Duan, Qingnan Fan, Baoquan Chen, Hao Su, Leonidas J. Guibas

ICCV 2021 (Oral Presentation)

arXiv Project Code Video bibtex

            
              @article{weng2021captra,
                title={CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Clouds},
                author={Weng, Yijia and Wang, He and Zhou, Qiang and Qin, Yuzhe and Duan, Yueqi and Fan, Qingnan and 
                        Chen, Baoquan and Su, Hao and Guibas, Leonidas J},
                journal={arXiv preprint arXiv:2104.03437},
                year={2021}
              }

3DIoUMatch: Leveraging IoU Prediction for Semi-Supervised 3D Object Detection

He Wang*, Yezhen Cong*, Or Litany, Yue Gao and Leonidas J. Guibas

ICCV 2021

Paper Project Code Video bibtex

            
              @inproceedings{wang20213dioumatch,
                title={3DIoUMatch: Leveraging iou prediction for semi-supervised 3d object detection},
                author={Wang, He and Cong, Yezhen and Litany, Or and Gao, Yue and Guibas, Leonidas J},
                booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
                pages={14615--14624},
                year={2021}
              }

MultiBodySync: Multi-Body Segmentation and Motion Estimation via 3D Scan Synchronization

Jiahui Huang, He Wang, Tolga Birdal, Minkyuk Sung, Federica Arrigoni, Shi-Min Hu, and Leonidas J. Guibas

CVPR 2021 (Oral Presentation)

Paper Code Video bibtex

            
              @inproceedings{huang2021multibodysync,
                title={Multibodysync: Multi-body segmentation and motion estimation via 3d scan synchronization},
                author={Huang, Jiahui and Wang, He and Birdal, Tolga and Sung, Minhyuk and Arrigoni, Federica and Hu, Shi-Min and Guibas, Leonidas J},
                booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
                pages={7108--7118},
                year={2021}
              }

Robust Neural Routing Through Space Partitions for Camera Relocalization in Dynamic Indoor Environments

Siyan Dong*, Qingnan Fan*, He Wang, Ji Shi, Li Yi, Thomas Funkhouser, Baoquan Chen, Leonidas J. Guibas

CVPR 2021 (Oral Presentation)

Paper Code bibtex

            
              @InProceedings{Dong_2021_CVPR,
                author = {Dong, Siyan and Fan, Qingnan and Wang, He and Shi, Ji and Yi, Li and Funkhouser, Thomas and Chen, Baoquan and Guibas, Leonidas J.},
                title = {Robust Neural Routing Through Space Partitions for Camera Relocalization in Dynamic Indoor Environments},
                booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
                month = {June},
                year = {2021},
                pages = {8544-8554}
            }

            
              @misc{duan2020curriculum,
                title={Curriculum DeepSDF},
                author={Yueqi Duan and Haidong Zhu and He Wang and Li Yi and Ram Nevatia and Leonidas J. Guibas},
                year={2020},
                eprint={2003.08593},
                archivePrefix={arXiv},
                primaryClass={cs.CV}
              }

Category-level Articulated Object Pose Estimation

He Wang*, Xiaolong Li*, Li Yi, Leonidas Guibas, A. Lynn Abbott, Shuran Song

CVPR 2020 (Oral Presentation)

Paper Project Code&Data bibtex

            
              @article{li2019category,
                title={Category-Level Articulated Object Pose Estimation},
                author={Li, Xiaolong and Wang, He and Yi, Li and Guibas, Leonidas and Abbott, A Lynn and Song, Shuran},
                journal={arXiv preprint arXiv:1912.11913},
                year={2019}
              }

SAPIEN: A SimulAted Part-based Interactive ENvironment

Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X.Chang, Leonidas J. Guibas and Hao Su

CVPR 2020 (Oral Presentation)

Paper Project Code&Data Demo bibtex

            
              @InProceedings{Xiang_2020_SAPIEN,
                author={Xiang, Fanbo and Qin, Yuzhe and Mo, Kaichun and Xia, Yikuan and Zhu, Hao 
                  and Liu, Fangchen and Liu, Minghua and Jiang, Hanxiao and Yuan, Yifu 
                  and Wang, He and Yi, Li and Chang, Angel X. and Guibas, Leonidas J. and Su, Hao},
                title={SAPIEN: A SimulAted Part-based Interactive ENvironment},
                booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
                month={June},
                year={2020}
              }

Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation

He Wang, Srinath Sridhar, Jingwei Huang, Julien Valentin, Shuran Song, Leonidas J. Guibas

CVPR 2019 (Oral Presentation), WAICYOP Award 2022

Paper Project Code&Data bibtex

            
              @inproceedings{wang2019normalized,
                title={Normalized object coordinate space for category-level 6d object pose and size estimation},
                author={Wang, He and Sridhar, Srinath and Huang, Jingwei and Valentin, Julien and Song, Shuran and Guibas, Leonidas J},
                booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
                pages={2642--2651},
                year={2019}
              }

Learning a Generative Model for Multi-Step Human-Object Interactions from Videos

He Wang*, Soeren Pirk*, Ersin Yumer, Vladimir Kim, Ozan Sener, Srinath Sridhar, Leonidas J. Guibas

Eurographics 2019 (Best Paper Honorable Mention)

Project Paper Code Blog Video

AWARDS

2025 World Internet Conference Leading Technology Award
The 9th "Haiying Talent" program
Fortune magazine's 2025 "China's 40 Under 40 Business Leaders"
InTech Technology Award
MIT Technology Review's "Innovators Under 35 China" (TR35 China)
2024 Peking University-China Optics Valley Award for Scientific and Technological Achievements Transformation
The Honorary Scholar of Intel China Academic Talent Program
ICCV 2023 Best Paper Finalist
ICRA 2023 Outstanding Manipulation Paper Finalist
2022 World Artificial Intelligence Conference Youth Outstanding Paper Award
Eurographics 2019 Best Paper Honorable Mention
1st prize winner of SAPIEN ManiSkill Challenge 2021 (no external annotation track)

TEACHING

Undergraduate course:

Introduction to Embodied AI, Spring 2026
Introduction to Computer Vision, Spring 2026

PROFESSIONAL SERVICE

Committee Member, Third Session of the Science and Technology Innovation Advisory Committee, Shanghai Stock Exchange (SSE)
Senior Advisor, Artificial Intelligence 100 Council (AI100)
Expert Committee Member, Guangdong Artificial Intelligence and Robotics Industry Alliance
Area chair (AC): CVPR, ICCV, WACV, etc.
Vice Chair of the Embodied AI Subcommittee, Artificial Intelligence Standardization Technical Committee, Ministry of Industry and Information Technology (MIIT), China
Executive Committee Member, Intelligent Robotics Technical Committee, China Computer Federation (CCF)
Committee Member, 3D Vision Technical Committee, China Society of Image and Graphics (CSIG)
Area Chair, Vision and Learning Young Scholars Summit (VALSE)
Committee Member, Embodied AI Professional Committee, Chinese Association for Artificial Intelligence (CAAI)
Beijing Academy of Artificial Intelligence (BAAI) Scholar