News
[2024/02] 🎉 One paper gets accepted to ICRA 2024.
[2023/09] 🎉 Two paper gets accepted to NeurIPS 2023.
[2023/02] 🎉 One paper gets accepted to CVPR 2023.
[2022/07] 🎉 One paper gets accepted to ECCV 2022.
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Research
My research interests lie in 3D computer vision and robotics. Much of my research is about embodied perception and manipulation, with a focus on enabling robots to autonomously perceive, understand, and interact with the world.
( *: equal contribution, †: corresponding author )
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GenPose: Generative Category-level Object Pose Estimation via Diffusion Models
Jiyao Zhang*, Mingdong Wu*, Hao Dong†
Advances in Neural Information Processing Systems (NeurIPS) 2023
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@article{zhang2023genpose,
title = {GenPose: Generative Category-level Object Pose Estimation via Diffusion Models},
author = {Zhang, Jiyao and Wu, Mingdong and Dong, Hao},
journal = {Advances in Neural Information Processing Systems},
year = {2023}
}
We explore a pure generative approach to tackle the multi-hypothesis issue in 6D Category-level Object Pose Estimation. The key idea is to generate pose candidates using a score-based diffusion model and aggregate poses using an energy-based diffusion model. By aggregating the remaining candidates, we can obtain a robust and high-quality output pose.
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Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping
Tianhao Wu*, Mingdong Wu*, Jiyao Zhang, Yunchong Gan, Hao Dong†
Advances in Neural Information Processing Systems (NeurIPS) 2023
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@article{wu2023learning,
title = {Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping},
author = {Wu, Tianhao and Wu, Mingdong and Zhang, Jiyao and Gan, Yunchong and Dong, Hao},
journal = {Advances in Neural Information Processing Systems},
year = {2023}
}
We propose a novel task called human-assisting dexterous grasping that aims to train a policy for controlling a robotic hand's fingers to assist users in grasping objects.
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SGTAPose: Robot Structure Prior Guided Temporal Attention for Camera-to-Robot Pose Estimation from Image Sequence
Yang Tian*, Jiyao Zhang*, Zekai Yin*, Hao Dong†
Conference on Computer Vision and Pattern Recognition (CVPR) 2023
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@inproceedings{tian2023robot,
title={Robot Structure Prior Guided Temporal Attention for Camera-to-Robot Pose Estimation From Image Sequence},
author={Tian, Yang and Zhang, Jiyao and Yin, Zekai and Dong, Hao},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
pages={8917--8926},
year={2023}
}
We propose Structure Prior Guided Temporal Attention for online Camera-to-Robot Pose estimation (SGTAPose) from successive frames of an image sequence.
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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†
European Conference on Computer Vision (ECCV) 2022
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@inproceedings{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},
booktitle={European Conference on Computer Vision},
pages={374--391},
year={2022},
organization={Springer}
}
We propose Domain Randomization Enhanced Depth Simulation (DREDS) approach to simulate an active stereo depth system using physically based rendering and demonstrate that the proposed DREDS bridges the sim-to-real domain gap.
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