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He Wang Research Fellow/Assistant Professor

+86 (0)10 6276-1084

hewang

Room 106-1, Courtyard No.5, Jingyuan

Embodied AI, 3D Computer Vision, Robotics

Bio-Sketch

Dr. He Wang is a tenure-track assistant professor in the Center on Frontiers of Computing Studies (CFCS) at Peking University. He founds and leads Embodied Perception and InteraCtion (EPIC) Lab (homepage: https://hughw19.github.io) with the mission of developing generalizable skills and embodied multimodal large model for robots to facilitate embodied AGI. He is also the director of PKU-Galbot joint lab of embodied AI and BAAI center of embodied AI. He has 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. His pioneering work on category-level 6D pose estimation, NOCS, receives the 2022 World Artificial Intelligence Conference Youth Outstanding Paper (WAICYOP) Award and his work also receives ICCV 2023 best paper finalist, ICRA 2023 outstanding manipulation paper award finalist and Eurographics 2019 best paper honorable mention. He serves as an associate editor of Image and Vision Computing and serves as an area chair in CVPR 2022 and WACV 2022. Prior to joining Peking University, he received his Ph.D. degree from Stanford University in 2021 under the advisory of Prof. Leonidas J. Guibas and his Bachelor's degree from Tsinghua University in 2014.

Selected Publications

*: equivalent contribution, †: corresponding author

Published Works

	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

	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

	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

	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

	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

	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

	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

	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

	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

	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

	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

	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

	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

	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
	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

	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

	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

	Curriculum DeepSDF Yueqi Duan, Haidong Zhu, He Wang, Li Yi, Ram Nevatia, Leonidas J. Guibas ECCV 2020 Paper/Code/bibtex

	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

	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

	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) Paper/Project/Code&Data/bibtex

	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

	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