Selected Publications

*: equivalent contribution, †: corresponding author



	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} }
	Self-Supervised Category-Level Articulated Object Pose Estimation with Part-Level SE(3) Equivariance Xueyi Liu, Ji Zhang, Ruizhen Hu, Haibin Huang, He Wang, Li Yi ICLR 2023 paper/bibtex @inproceedings{ liu2023selfsupervised, title={Self-Supervised Category-Level Articulated Object Pose Estimation with Part-Level {SE}(3) Equivariance}, author={Xueyi Liu and Ji Zhang and Ruizhen Hu and Haibin Huang and He Wang and Li Yi}, booktitle={The Eleventh International Conference on Learning Representations }, year={2023}, url={https://openreview.net/forum?id=20GtJ6hIaPA} }
	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 J. 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} }
	CodedVTR: Codebook-based Sparse Voxel Transformer with Geometric Guidance Tianchen Zhao, Niansong Zhang, Xuefei Ning, He Wang, Li Yi, Yu Wang CVPR 2022 arXiv/bibtex @article{zhao2022codedvtr, title={CodedVTR: Codebook-based Sparse Voxel Transformer with Geometric Guidance}, author={Zhao, Tianchen and Zhang, Niansong and Ning, Xuefei and Wang, He and Yi, Li and Wang, Yu}, journal={arXiv preprint arXiv:2203.09887}, year={2022} }
	Domain Adaptation on Point Clouds via Geometry-Aware Implicits Yuefan Shen*, Yanchao Yang*, Mi Yan, He Wang, Youyi Zheng, Leonidas J. Guibas CVPR 2022 arXiv/bibtex @article{shen2021domain, title={Domain Adaptation on Point Clouds via Geometry-Aware Implicits}, author={Shen, Yuefan and Yang, Yanchao and Yan, Mi and Wang, He and Zheng, Youyi and Guibas, Leonidas}, journal={arXiv preprint arXiv:2112.09343}, year={2021} }
	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} }
	Single Image 3D Shape Retrieval via Cross-Modal Instance and Category Contrastive Learning Mingxian Lin, Jie Yang, He Wang, Yu-Kun Lai, Rongfei Jia, Binqiang Zhao, Lin Gao ICCV 2021 Paper/Supp./bibtex @inproceedings{lin2021single, title={Single Image 3D Shape Retrieval via Cross-Modal Instance and Category Contrastive Learning}, author={Lin, Ming-Xian and Yang, Jie and Wang, He and Lai, Yu-Kun and Jia, Rongfei and Zhao, Binqiang and Gao, Lin}, booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision}, pages={11405--11415}, year={2021} }
	3DIoUMatch: Leveraging IoU Prediction for Semi-Supervised 3D Object Detection He Wang*, Yezhen Cong*, Or Litany, Yue Gao and Leonidas J. Guibas CVPR 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} }
	Rethinking Sampling in 3D Point Cloud Generative Adversarial Networks He Wang*, Zetian Jiang*, Li Yi, Kaichun Mo, Hao Su, Leonidas J. Guibas CVPR 2021 Workshop on Learning to Generate 3D Shapes and Scenes Paper/Poster/Video/bibtex @article{wang2020rethinking, title={Rethinking Sampling in 3D Point Cloud Generative Adversarial Networks}, author={Wang, He and Jiang, Zetian and Yi, Li and Mo, Kaichun and Su, Hao and Guibas, Leonidas J}, journal={arXiv preprint arXiv:2006.07029}, year={2020} }
	PT2PC: Learning to Generate 3D Point Cloud Shapes from Part Tree Conditions Kaichun Mo, He Wang, Li Yi, Xinchen Yan and Leonidas J. Guibas ECCV 2020 Paper/Project/Code&Data/bibtex @article{mo2020pt2pc, title={{PT2PC}: Learning to Generate 3D Point Cloud Shapes from Part Tree Conditions}, author={Mo, Kaichun and Wang, He and Yan, Xinchen and Guibas, Leonidas}, journal={arXiv preprint arXiv:2003.08624}, year={2020} }
	Curriculum DeepSDF Yueqi Duan*, Haidong Zhu*, He Wang, Li Yi, Ram Nevatia, Leonidas J. Guibas ECCV 2020 Paper/Code/bibtex @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} }
	GSPN: Generative Shape Proposal Network for 3D Instance Segmentation in Point Cloud Li Yi, Wang Zhao, He Wang, Minhyuk Sung, Leonidas Guibas CVPR 2019 Paper/Code/bibtex @article{yi2018gspn, title={GSPN: Generative Shape Proposal Network for 3D Instance Segmentation in Point Cloud}, author={Yi, Li and Zhao, Wang and Wang, He and Sung, Minhyuk and Guibas, Leonidas}, journal={arXiv preprint arXiv:1812.03320}, year={2018} }
	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