王鹤-北京大学计算机学院

师资队伍

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王鹤

职称：助理教授

研究所：前沿计算研究中心

研究领域：具身智能，三维视觉，机器人学

办公电话：86-10-6276 1084

电子邮件：hewangpku.edu.cn

个人主页：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

Published Works

	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

	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

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王鹤