Hello, I'm Wei Yang

I am a Senior Research Scientist at the NVIDIA Seattle Robotics Lab. I received my Ph.D. in Electronic Engineering from the Chinese University of Hong Kong in 2018, under the supervision of Prof. Xiaogang Wang and co-supervision of Prof. Wanli Ouyang. During my doctoral studies, I was a visiting student at the Robotics Institute, Carnegie Mellon University, where I worked with Prof. Abhinav Gupta.

Research interests: Robotics Manipulation, Computer Vision, Embodied Intelligence.

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News

Publications

Conferences & Preprints

Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration

Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration

Sirui Xu, Yu-Wei Chao, Liuyu Bian, Arsalan Mousavian, Yu-Xiong Wang, Liang-Yan Gui, Wei Yang
CoRL, 2025

A scalable neural control framework for dexterous manipulation using reference-scoped exploration.

Project Page PDF arXiv
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning

VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning

Binghao Huang, Jie Xu, Iretiayo Akinola, Wei Yang, Balakumar Sundaralingam, Rowland O'Flaherty, Dieter Fox, Xiaolong Wang, Arsalan Mousavian, Yu-Wei Chao, Yunzhu Li
CoRL, 2025 Best Paper Award at IROS 2025 AHFHR Workshop

Learning bimanual assembly tasks using visuo-tactile feedback through simulation fine-tuning.

Project Page PDF
Slot-Level Robotic Placement via Visual Imitation from Single Human Video

Slot-Level Robotic Placement via Visual Imitation from Single Human Video

Dandan Shan, Kaichun Mo, Wei Yang, Yu-Wei Chao, David Fouhey, Dieter Fox, Arsalan Mousavian
In Submission

Teaching robots slot-level pick-place manipulation from a single human video.

Project Page PDF arXiv
Cosmos World Foundation Model Platform for Physical AI

Cosmos World Foundation Model Platform for Physical AI

Whitepaper, 2025

A world foundation model platform to help developers build customized world models for Physical AI applications with video curation pipeline, pre-trained models, and post-training examples.

Project Page PDF arXiv
FoundationPose: Unified 6d pose estimation and tracking of novel objects

FoundationPose: Unified 6d pose estimation and tracking of novel objects

Bowen Wen, Wei Yang, Jan Kautz, Stan Birchfield
CVPR, 2024 Highlight (AC 2.8%)

A foundation model for 6D pose estimation and tracking of novel objects.

Project Page PDF arXiv Code
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers

SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers

Sammy Christen, Lan Feng, Wei Yang, Yu-Wei Chao, Otmar Hilliges, Jie Song
ICRA, 2024

Using synthetic data to learn human-to-robot handovers.

Project Page PDF arXiv
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox
RSS, 2023

A general vision-based teleoperation system for dexterous robot manipulation.

Project Page PDF arXiv Code
Learning Human-to-Robot Handovers from Point Clouds

Learning Human-to-Robot Handovers from Point Clouds

Sammy Christen, Wei Yang, Claudia Pérez D'Arpino, Otmar Hilliges, Dieter Fox, Yu-Wei Chao
CVPR, 2023 Highlight (AC 2.5%)

Learning human-to-robot handovers directly from point cloud observations.

Project Page PDF arXiv
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation

Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation

Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox
CoRL, 2022

Using implicit shape augmentation to learn robust dexterous grasping policies.

Project Page PDF arXiv
Learning Perceptual Concepts by Bootstrapping from Human Queries

Learning Perceptual Concepts by Bootstrapping from Human Queries

Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox
IROS, 2022 Spotlight

Learning perceptual concepts through human interaction.

Project Page PDF arXiv Code
Model Predictive Control for Fluid Human-to-Robot Handovers

Model Predictive Control for Fluid Human-to-Robot Handovers

Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
ICRA, 2022

Using MPC for smooth human-to-robot handovers.

Project Page PDF arXiv
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers

HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers

Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithya Murali, Maya Cakmak, Dieter Fox
ICRA, 2022

A simulation framework for human-to-robot handovers.

Project Page PDF arXiv
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds

Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds

Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox
CoRL, 2021

Using goal-auxiliary learning for 6D robotic grasping.

Project Page PDF arXiv Code
DexYCB: A Benchmark for Capturing Hand Grasping of Objects

DexYCB: A Benchmark for Capturing Hand Grasping of Objects

Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
CVPR, 2021

A benchmark dataset for hand-object interaction.

Project Page PDF arXiv Code
Reactive Human-to-Robot Handovers of Arbitrary Objects

Reactive Human-to-Robot Handovers of Arbitrary Objects

Wei Yang, Chris Paxton, Arsalan Mousavian, Yu-Wei Chao, Maya Cakmak, Dieter Fox
ICRA, 2021 Best Paper Award on Human-Robot Interaction (HRI)

A reactive approach for human-to-robot handovers.

Project Page PDF arXiv
Human Grasp Classification for Reactive Human-to-Robot Handovers

Human Grasp Classification for Reactive Human-to-Robot Handovers

Wei Yang, Chris Paxton, Maya Cakmak, Dieter Fox
IROS, 2020

A grasp classification approach for reactive human-to-robot handovers.

PDF arXiv
Collaborative Interaction Models for Optimized Human-Robot Teamwork

Collaborative Interaction Models for Optimized Human-Robot Teamwork

Adam Fishman, Chris Paxton, Wei Yang, Nathan Ratliff, Byron Boots, Dieter Fox
IROS, 2020

Optimizing human-robot teamwork through collaborative interaction models.

Project Page PDF arXiv
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, Dieter Fox
ICRA, 2020

A vision-based teleoperation system for dexterous manipulation.

Project Page PDF arXiv
Visual Semantic Navigation using Scene Priors

Visual Semantic Navigation using Scene Priors

Wei Yang, Xiaolong Wang, Ali Farhadi, Abhinav Gupta, Roozbeh Mottaghi
ICLR, 2019

Using scene priors for visual semantic navigation.

PDF arXiv Code
3D Human Pose Estimation in the Wild by Adversarial Learning

3D Human Pose Estimation in the Wild by Adversarial Learning

Wei Yang, Wanli Ouyang, Xiaolong Wang, Jimmy Ren, Hongsheng Li, Xiaogang Wang
CVPR, 2018

Using adversarial learning for 3D human pose estimation in unconstrained environments.

PDF arXiv
Learning Feature Pyramids for Human Pose Estimation

Learning Feature Pyramids for Human Pose Estimation

Wei Yang, Shuang Li, Wanli Ouyang, Hongsheng Li, Xiaogang Wang
ICCV, 2017

A pyramid network architecture for human pose estimation.

PDF arXiv Code
Identity-Aware Textual-Visual Matching with Latent Co-attention

Identity-Aware Textual-Visual Matching with Latent Co-attention

Shuang Li, Tong Xiao, Hongsheng Li, Wei Yang, Xiaogang Wang
ICCV, 2017

Using latent co-attention for identity-aware textual-visual matching.

PDF arXiv
Towards Multi-Person Pose Tracking: Bottom-up and Top-down Methods

Towards Multi-Person Pose Tracking: Bottom-up and Top-down Methods

Shengjin Wang, Xujie Ma, Zhipeng Han, Yue Wu, Wei Yang, Wentao Liu, Chen Qian, Wanli Ouyang
ICCV PoseTrack Workshop, 2017

Bottom-up and top-down methods for multi-person pose tracking.

PDF
Multi-Context Attention for Human Pose Estimation

Multi-Context Attention for Human Pose Estimation

Xiao Chu, Wei Yang, Wanli Ouyang, Cheng Ma, Alan Yuille, Xiaogang Wang
CVPR, 2017

Using multi-context attention mechanisms for human pose estimation.

PDF Code
End-to-End Learning of Deformable Mixture of Parts and Deep Convolutional Neural Networks for Human Pose Estimation

End-to-End Learning of Deformable Mixture of Parts and Deep Convolutional Neural Networks for Human Pose Estimation

Wei Yang, Wanli Ouyang, Hongsheng Li, Xiaogang Wang
CVPR, 2016 Oral (AC 3.9%)

Learning deformable mixture of parts and CNNs end-to-end for pose estimation.

PDF
Multi-task Recurrent Neural Network for Immediacy Prediction

Multi-task Recurrent Neural Network for Immediacy Prediction

Xiao Chu, Wanli Ouyang, Wei Yang, Xiaogang Wang
ICCV, 2015 Oral (AC 3.3%)

Using multi-task RNNs for immediacy prediction.

Project Page PDF
Clothing Co-Parsing by Joint Image Segmentation and Labeling

Clothing Co-Parsing by Joint Image Segmentation and Labeling

Wei Yang, Ping Luo, Liang Lin
CVPR, 2014

Joint image segmentation and labeling for clothing co-parsing.

PDF Code
Data-Driven Scene Understanding by Adaptive Exemplar Retrieval

Data-Driven Scene Understanding by Adaptive Exemplar Retrieval

Xionghao Liu, Wei Yang, Qing Wang, Liang Lin, Jianhuang Lai
ICME, 2014

Using adaptive exemplar retrieval for scene understanding.

PDF arXiv
Learning Contour-Fragment-based Shape Model with And-Or Tree Representation

Learning Contour-Fragment-based Shape Model with And-Or Tree Representation

Liang Lin, Xiaolong Wang, Wei Yang, Jianhuang Lai
CVPR, 2012

Using And-Or tree representation for shape modeling.

PDF
Interactive CT image segmentation with online discriminative learning

Interactive CT image segmentation with online discriminative learning

Wei Yang, Xiaolong Wang, Liang Lin, Chengying Gao
ICIP, 2011

Interactive medical image segmentation with online learning.

Project Page PDF

Journals

Scene Synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation

Clemens Eppner, Adithya Murali, Caelan Garrett, Rowland O'Flaherty, Tucker Hermans, Wei Yang, Dieter Fox
Journal of Open Source Software (JOSS), January 2025
PDF Code Project

Progressively diffused networks for semantic visual parsing

Ruimao Zhang, Wei Yang, Zhanglin Peng, Pengxu Wei, Xiaogang Wang, Liang Lin
Pattern Recognition (PR), 2019
PDF arXiv

Clothes Co-Parsing via Joint Image Segmentation and Labeling with Application to Clothing Retrieval

Xiaodan Liang, Liang Lin, Wei Yang, Ping Luo, Junshi Huang, Shuicheng Yan
IEEE Transactions on Multimedia (T-MM), 2016
PDF

Inference With Collaborative Model for Interactive Tumor Segmentation in Medical Image Sequences

Liang Lin, Wei Yang, Chenglong Li, Jin Tang, Xiaochun Cao
IEEE Transactions on Cybernetics (T-Cybernetics), 2015
PDF Project Dataset

Data-Driven Scene Understanding with Adaptively Retrieved Exemplars

Xionghao Liu, Wei Yang, Liang Lin, Qing Wang, Zhaoquan Cai, Jianhuang Lai
IEEE Multimedia, 2015
PDF Code Project

Discriminatively Trained And-Or Graph Models for Object Shape Detection

Liang Lin, Xiaolong Wang, Wei Yang, Jianhuang Lai
IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 37(5): 959-972, 2015
PDF Code Project Dataset