北京大学前沿计算研究中心

王鹤

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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

简介

　　王鹤博士，现任北京大学前沿计算研究中心助理教授，博士生导师，于2021年9月正式加入中心。他创立并领导了具身感知与交互实验室(EPIC Lab)，实验室立足三维视觉感知与机器人学，重点关注具身机器人在三维复杂环境中的感知和交互问题，研究目标是以可扩增地方式发展高泛化性的机器人视觉和控制系统。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/NeurIPS）发表20余篇工作，其论文获得2022年世界人工智能大会青年优秀论文奖（WAICYOP），Eurographics 2019最佳论文提名奖，其带领的团队获得ICLR 2021可泛化机器人物体操纵挑战赛ManiSkill无额外标注赛道冠军。他担任了CVPR2022的领域主席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。

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

简介

发表论著

Selected Publications

Published Works