bibtex: @article{sofar25,
              title={Sofar: Language-grounded orientation bridges spatial reasoning and object manipulation},
              author={Qi, Zekun and Zhang, Wenyao and Ding, Yufei and Dong, Runpei and Yu, Xinqiang and Li, Jingwen and Xu, Lingyun and Li, Baoyu and He, Xialin and Fan, Guofan and others},
              journal={arXiv preprint arXiv:2502.13143},
              year={2025}
            }
            
          

            

            @inproceedings{liufetchbot,
              title={FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real},
              author={Liu, Weiheng and Wan, Yuxuan and Wang, Jilong and Kuang, Yuxuan and Shi, Xuesong and Li, Haoran and Zhao, Dongbin and Zhang, Zhizheng and Wang, He},
              booktitle={9th Annual Conference on Robot Learning}
            }
            
          

            

            @article{deng2025graspvla,
                title={GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data}, 
                author={Shengliang Deng and Mi Yan and Songlin Wei and Haixin Ma and Yuxin Yang and Jiayi Chen and Zhiqi Zhang and Taoyu Yang and Xuheng Zhang and Wenhao Zhang and Heming Cui and Zhizheng Zhang and He Wang},
                year={2025},
                eprint={2505.03233},
                archivePrefix={arXiv},
                primaryClass={cs.RO},
                url={https://arxiv.org/abs/2505.03233}
            }
            
          

            

              @misc{he2025dexvlgdexterousvisionlanguagegraspmodel,
                title={DexVLG: Dexterous Vision-Language-Grasp Model at Scale}, 
                author={Jiawei He and Danshi Li and Xinqiang Yu and Zekun Qi and Wenyao Zhang and Jiayi Chen and Zhaoxiang Zhang and Zhizheng Zhang and Li Yi and He Wang},
                year={2025},
                eprint={2507.02747},
                archivePrefix={arXiv},
                primaryClass={cs.CV},
                url={https://arxiv.org/abs/2507.02747}, 
              }
            
          

            

              @article{lyu2025dywa,
                title={DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation},
                author={Lyu, Jiangran and Li, Ziming and Shi, Xuesong and Xu, Chaoyi and Wang, Yizhou and Wang, He},
                journal={arXiv preprint arXiv:2503.16806},
                year={2025}
              } 
            
          

            

              @misc{chen2025robohangerlearninggeneralizablerobotic,
                title={RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments}, 
                author={Yuxing Chen and Songlin Wei and Bowen Xiao and Jiangran Lyu and Jiayi Chen and Feng Zhu and He Wang},
                year={2025},
                eprint={2412.01083},
                archivePrefix={arXiv},
                primaryClass={cs.RO},
                url={https://arxiv.org/abs/2412.01083}, 
              } 
            
          

            

            @misc{geng2023sage,
              title={SAGE: Bridging Semantic and Actionable Parts for GEneralizable Articulated-Object Manipulation under Language Instructions},
              author={Haoran Geng and Songlin Wei and Congyue Deng and Bokui Shen and He Wang and Leonidas Guibas},
              year={2023},
              eprint={2312.01307},
              archivePrefix={arXiv},
              primaryClass={cs.RO} 
            }
            
          

            

            @article{li2020impartass,
              title={Learning 3D Part Assembly from a Single Image},
              author={Li, Yichen and Mo, Kaichun and Shao, Lin and Sung, Minghyuk and Guibas, Leonidas},
              journal={European conference on computer vision (ECCV 2020)},
              year={2020}
            }
            
          

            

            @misc{zhang2023gamma,
              title={GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion}, 
              author={Jiazhao Zhang and Nandiraju Gireesh and Jilong Wang and Xiaomeng Fang and Chaoyi Xu and Weiguang Chen and Liu Dai and He Wang},
              year={2023},
              eprint={2309.15459},
              archivePrefix={arXiv},
              primaryClass={cs.RO}
            }
            
          

            

            @article{wan2023unidexgrasp++,
              title={UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning},
              author={Wan, Weikang and Geng, Haoran and Liu, Yun and Shan, Zikang and Yang, Yaodong and Yi, Li and Wang, He},
              journal={arXiv preprint arXiv:2304.00464},
              year={2023} 
            }
            
          

            

              @article{geng2022gapartnet,
                title={GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Parts},
                author={Geng, Haoran and Xu, Helin and Zhao, Chengyang and Xu, Chao and Yi, Li and Huang, Siyuan and Wang, He},
                journal={arXiv preprint arXiv:2211.05272},
                year={2022}
              }
            
          

            

              @article{zhang20223d,
                title={3D-Aware Object Goal Navigation via Simultaneous Exploration and Identification},
                author={Zhang, Jiazhao and Dai, Liu and Meng, Fanpeng and Fan, Qingnan and Chen, Xuelin and Xu, Kai and Wang, He},
                journal={arXiv preprint arXiv:2212.00338},
                year={2022}
              }
            
          

            

              @article{xu2023unidexgrasp,
                title={UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy},
                author={Xu, Yinzhen and Wan, Weikang and Zhang, Jialiang and Liu, Haoran and Shan, Zikang and Shen, Hao and Wang, Ruicheng and Geng, Haoran and Weng, Yijia and Chen, Jiayi and others},
                journal={arXiv preprint arXiv:2303.00938},
                year={2023}
              }
            
          

            

              @article{geng2023partmanip,
                title={PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations},
                author={Geng, Haoran and Li, Ziming and Geng, Yiran and Chen, Jiayi and Dong, Hao and Wang, He},
                journal={arXiv preprint arXiv:2303.16958},
                year={2023}
              }
            
          

            

            @article{liu2023delving,
              title={Delving into Discrete Normalizing Flows on SO (3) Manifold for Probabilistic Rotation Modeling},
              author={Liu, Yulin and Liu, Haoran and Yin, Yingda and Wang, Yang and Chen, Baoquan and Wang, He},
              journal={arXiv preprint arXiv:2304.03937},
              year={2023}
            }
            
          

            

              @article{shen2023diga,
                title={DiGA: Distil to Generalize and then Adapt for Domain Adaptive Semantic Segmentation},
                author={Shen, Fengyi and Gurram, Akhil and Liu, Ziyuan and Wang, He and Knoll, Alois},
                journal={arXiv preprint arXiv:2304.02222},
                year={2023}
              }
            
          

            

              @article{2210.02697,
                title = {DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation},
                author = {Ruicheng Wang and Jialiang Zhang and Jiayi Chen and Yinzhen Xu and Puhao Li and Tengyu Liu and He Wang},
                journal={arXiv preprint arXiv:2210.02697},
                year = {2022}
              }
            
          

            

              @article{dai2022graspnerf,
                title={GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF},
                author={Dai, Qiyu and Zhu, Yan and Geng, Yiran and Ruan, Ciyu and Zhang, Jiazhao and Wang, He},
                journal={arXiv preprint arXiv:2210.06575},
                year={2022}
              }
            
          

            

              @inproceedings{
                yin2023a,
                title={A Laplace-inspired Distribution on {SO}(3) for Probabilistic Rotation Estimation},
                author={Yingda Yin and Yang Wang and He Wang and Baoquan Chen},
                booktitle={The Eleventh International Conference on Learning Representations },
                year={2023},
                url={https://openreview.net/forum?id=Mvetq8DO05O}
              }
            
          

            

              @inproceedings{
                liu2023selfsupervised,
                title={Self-Supervised Category-Level Articulated Object Pose Estimation with Part-Level {SE}(3) Equivariance},
                author={Xueyi Liu and Ji Zhang and Ruizhen Hu and Haibin Huang and He Wang and Li Yi},
                booktitle={The Eleventh International Conference on Learning Representations },
                year={2023},
                url={https://openreview.net/forum?id=20GtJ6hIaPA}
              }
            
          

            

              @article{chen2022tracking,
                title={Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild},
                author={Chen, Jiayi and Yan, Mi and Zhang, Jiazhao and Xu, Yinzhen and Li, Xiaolong and Weng, Yijia and Yi, Li and Song, Shuran and Wang, He},
                journal={arXiv preprint arXiv:2209.12009},
                year={2022}
              }
            
          

            

              @article{dai2022domain,
                title={Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objects},
                author={Dai, Qiyu and Zhang, Jiyao and Li, Qiwei and Wu, Tianhao and Dong, Hao and Liu, Ziyuan and Tan, Ping and Wang, He},
                journal={arXiv preprint arXiv:2208.03792},
                year={2022}
              }
            
          

            

              @article{shen2022learning,
                title={Learning Category-Level Generalizable Object Manipulation Policy via Generative Adversarial Self-Imitation Learning from Demonstrations},
                author={Shen, Hao and Wan, Weikang and Wang, He},
                journal={arXiv preprint arXiv:2203.02107},
                year={2022}
              }
            
          

            

              @article{yin2022fishermatch,
                title={FisherMatch: Semi-Supervised Rotation Regression via Entropy-based Filtering},
                author={Yin, Yingda and Cai, Yingcheng and Wang, He and Chen, Baoquan},
                journal={arXiv preprint arXiv:2203.15765},
                year={2022}
              }
            
          

            

              @article{chen2021projective,
                title={Projective Manifold Gradient Layer for Deep Rotation Regression},
                author={Chen, Jiayi and Yin, Yingda and Birdal, Tolga and Chen, Baoquan and Guibas, Leonidas and Wang, He},
                journal={arXiv preprint arXiv:2110.11657},
                year={2021}
              }
            
          

            

              @article{yang2021adela,
                title={ADeLA: Automatic Dense Labeling with Attention for Viewpoint Adaptation in Semantic Segmentation},
                author={Yang, Yanchao and Ren, Hanxiang and Wang, He and Shen, Bokui and Fan, Qingnan and Zheng, Youyi and Liu, C Karen and Guibas, Leonidas},
                journal={arXiv preprint arXiv:2107.14285},
                year={2021}
              }
            
          

            

              @article{liu2022hoi4d,
                title={HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction},
                author={Liu, Yunze and Liu, Yun and Jiang, Che and Fu, Zhoujie and Lyu, Kangbo and Wan, Weikang and Shen, Hao and Liang, Boqiang and Wang, He and Yi, Li},
                journal={arXiv preprint arXiv:2203.01577},
                year={2022}
              }
            
          

            

              @article{ye2022multi,
                title={Multi-Robot Active Mapping via Neural Bipartite Graph Matching},
                author={Ye, Kai and Dong, Siyan and Fan, Qingnan and Wang, He and Yi, Li and Xia, Fei and Wang, Jue and Chen, Baoquan},
                journal={arXiv preprint arXiv:2203.16319},
                year={2022}
              }
            
          

            

              @article{zhao2022codedvtr,
                title={CodedVTR: Codebook-based Sparse Voxel Transformer with Geometric Guidance},
                author={Zhao, Tianchen and Zhang, Niansong and Ning, Xuefei and Wang, He and Yi, Li and Wang, Yu},
                journal={arXiv preprint arXiv:2203.09887},
                year={2022}
              }
            
          

            

              @article{shen2021domain,
                title={Domain Adaptation on Point Clouds via Geometry-Aware Implicits},
                author={Shen, Yuefan and Yang, Yanchao and Yan, Mi and Wang, He and Zheng, Youyi and Guibas, Leonidas},
                journal={arXiv preprint arXiv:2112.09343},
                year={2021}
              }
            
          

            

              @article{li2021leveraging,
                title={Leveraging SE (3) Equivariance for Self-supervised Category-Level Object Pose Estimation from Point Clouds},
                author={Li, Xiaolong and Weng, Yijia and Yi, Li and Guibas, Leonidas J and Abbott, A and Song, Shuran and Wang, He},
                journal={Advances in Neural Information Processing Systems},
                volume={34},
                year={2021}
              }
            
          

            

              @article{weng2021captra,
                title={CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Clouds},
                author={Weng, Yijia and Wang, He and Zhou, Qiang and Qin, Yuzhe and Duan, Yueqi and Fan, Qingnan and 
                        Chen, Baoquan and Su, Hao and Guibas, Leonidas J},
                journal={arXiv preprint arXiv:2104.03437},
                year={2021}
              }
            
          

            

              @inproceedings{lin2021single,
                title={Single Image 3D Shape Retrieval via Cross-Modal Instance and Category Contrastive Learning},
                author={Lin, Ming-Xian and Yang, Jie and Wang, He and Lai, Yu-Kun and Jia, Rongfei and Zhao, Binqiang and Gao, Lin},
                booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision},
                pages={11405--11415},
                year={2021}
              }
            
          

            

              @inproceedings{wang20213dioumatch,
                title={3DIoUMatch: Leveraging iou prediction for semi-supervised 3d object detection},
                author={Wang, He and Cong, Yezhen and Litany, Or and Gao, Yue and Guibas, Leonidas J},
                booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
                pages={14615--14624},
                year={2021}
              }
            
          

            

              @inproceedings{huang2021multibodysync,
                title={Multibodysync: Multi-body segmentation and motion estimation via 3d scan synchronization},
                author={Huang, Jiahui and Wang, He and Birdal, Tolga and Sung, Minhyuk and Arrigoni, Federica and Hu, Shi-Min and Guibas, Leonidas J},
                booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
                pages={7108--7118},
                year={2021}
              }
            
          

            

              @InProceedings{Dong_2021_CVPR,
                author = {Dong, Siyan and Fan, Qingnan and Wang, He and Shi, Ji and Yi, Li and Funkhouser, Thomas and Chen, Baoquan and Guibas, Leonidas J.},
                title = {Robust Neural Routing Through Space Partitions for Camera Relocalization in Dynamic Indoor Environments},
                booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
                month = {June},
                year = {2021},
                pages = {8544-8554}
            }
            
          

            

              @article{wang2020rethinking,
                title={Rethinking Sampling in 3D Point Cloud Generative Adversarial Networks},
                author={Wang, He and Jiang, Zetian and Yi, Li and Mo, Kaichun and Su, Hao and Guibas, Leonidas J},
                journal={arXiv preprint arXiv:2006.07029},
                year={2020}
              }
            
          

            

              @article{mo2020pt2pc,
                title={PT2PC: Learning to Generate 3D Point Cloud Shapes from Part Tree Conditions},
                author={Mo, Kaichun and Wang, He and Yan, Xinchen and Guibas, Leonidas},
                journal={arXiv preprint arXiv:2003.08624},
                year={2020}
              }
            
          

            

              @misc{duan2020curriculum,
                title={Curriculum DeepSDF},
                author={Yueqi Duan and Haidong Zhu and He Wang and Li Yi and Ram Nevatia and Leonidas J. Guibas},
                year={2020},
                eprint={2003.08593},
                archivePrefix={arXiv},
                primaryClass={cs.CV}
              }
            
          

            

              @article{li2019category,
                title={Category-Level Articulated Object Pose Estimation},
                author={Li, Xiaolong and Wang, He and Yi, Li and Guibas, Leonidas and Abbott, A Lynn and Song, Shuran},
                journal={arXiv preprint arXiv:1912.11913},
                year={2019}
              }
            
          

            

              @InProceedings{Xiang_2020_SAPIEN,
                author={Xiang, Fanbo and Qin, Yuzhe and Mo, Kaichun and Xia, Yikuan and Zhu, Hao 
                  and Liu, Fangchen and Liu, Minghua and Jiang, Hanxiao and Yuan, Yifu 
                  and Wang, He and Yi, Li and Chang, Angel X. and Guibas, Leonidas J. and Su, Hao},
                title={SAPIEN: A SimulAted Part-based Interactive ENvironment},
                booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
                month={June},
                year={2020}
              }
            
          

            

              @inproceedings{wang2019normalized,
                title={Normalized object coordinate space for category-level 6d object pose and size estimation},
                author={Wang, He and Sridhar, Srinath and Huang, Jingwei and Valentin, Julien and Song, Shuran and Guibas, Leonidas J},
                booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
                pages={2642--2651},
                year={2019}
              }
            
          

            

              @article{yi2018gspn,
                title={GSPN: Generative Shape Proposal Network for 3D Instance Segmentation in Point Cloud},
                author={Yi, Li and Zhao, Wang and Wang, He and Sung, Minhyuk and Guibas, Leonidas},
                journal={arXiv preprint arXiv:1812.03320},
                year={2018}
              }