He Wang Assistant Professor

+86 (0)10 6276-1084


Room 106-1, Courtyard No.5, Jingyuan

Embodied AI, 3D Computer Vision, Robotics


Dr. He Wang  joined Peking University in September 2021 and is currently a tenure-track assistant professor at the Center on Frontiers of Computing Studies (CFCS) at Peking University, where he founds and leads Embodied Perception and InteraCtion (EPIC) Lab. His research interests span 3D vision, robotics, and machine learning, with a special focus on embodied AI. His research objective is to endow robots working in complex real-world scenes with generalizable 3D vision and interaction policies in a scalable way. He has published more than 20 papers on top conferences and journals of computer vision, robotics and learning (CVPR/ICCV/ECCV/TRO/RAL/NeurIPS) with 8 of his works receiving CVPR/ICCV orals, one work receiving 2022 World Artificial Intelligence Conference Youth Outstanding Paper (WAICYOP) Award, and  one work receiving Eurographics 2019 best paper honorable mention. He serves as an area chair in CVPR 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 in 2014 from Tsinghua University.


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)




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






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)






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

Yingda Yin, Yingcheng Cai, He Wang, Baoquan Chen

CVPR 2022 (Oral Presentation)






Projective Manifold Gradient Layer for Deep Rotation Regression

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

CVPR 2022






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)






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






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






CodedVTR: Codebook-based Sparse Voxel Transformer with Geometric Guidance

Tianchen Zhao, Niansong Zhang, Xuefei Ning, He Wang, Li Yi, Yu Wang

CVPR 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






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






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)






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






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

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

CVPR 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)





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)






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






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






Curriculum DeepSDF

Yueqi Duan*, Haidong Zhu*, He Wang, Li Yi, Ram Nevatia, Leonidas J. Guibas

ECCV 2020






Category-level Articulated Object Pose Estimation

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

CVPR 2020 (Oral Presentation)






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)






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)






GSPN: Generative Shape Proposal Network for 3D Instance Segmentation in Point Cloud

Li Yi, Wang Zhao, He Wang, Minhyuk Sung, Leonidas Guibas

CVPR 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)