人才队伍
王鹤
王鹤 助理教授

+86 (0)10 6276-1084

hewang

静园五院106-1

具身智能、三维视觉、机器人学 https://hughw19.github.io/

简介

  王鹤博士是北京大学前沿计算研究中心(CFCS)的助理教授和博士生导师。他创立并领导了北大具身感知与交互实验室(EPIC Lab,主页:https://hughw19.github.io),研究目标是通过发展具身技能及具身多模态大模型推进通用具身智能。他同时是北大-银河通用具身智能联合实验室主任,北京智源人工智能研究院具身智能研究中心主任。他已在计算机视觉、机器人学和人工智能的顶级会议和期刊(CVPR/ICCV/ECCV/TRO/RAL/ICRA/NeurIPS/ICLR/AAAI等)上发表五十余篇工作,其论文获得ICCV2023最佳论文候选,ICRA2023最佳操纵论文候选,2022年世界人工智能大会青年优秀论文(WAICYOP)奖,Eurographics 2019最佳论文提名奖。他担任了CVPR2022和WACV2022的领域主席,Image and Vision Computing的副主编和诸多顶会的审稿人、程序委员。在加入北京大学之前,他于2021年从斯坦福大学获得博士学位,师从美国三院院士Leonidas. J Guibas教授,于2014年从清华大学获得学士学位。

发表论著

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


 

 

 

 

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


 

 

 

 

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


 

 

 

 

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


 

 

 

 

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


 

 

 

 

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


 

 

 

 

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


 

 

 

 

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


 

 

 

 

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


 

 

 

 

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


 

 

 

 

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


 

 

 

 

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

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