He Wang
Prof. He Wang
Tenure-track Assistant Professor at Peking University
Director of Embodied Perception and InteraCtion (EPIC) Lab
Director of PKU-Galbot Joint Lab of Embodied AI
I am a tenure-track assistant professor in the Center on Frontiers of Computing Studies (CFCS) at Peking University. I founded and lead the Embodied Perception and InteraCtion (EPIC) Lab, with the mission of developing generalizable skills and embodied multimodal embodied multimodal large models for robots to facilitate embodied AGI.
I am also the founder and CTO of Galbot, a world-leading Embodied AI company that focuses on developing humanoid generalist robots.
On February 9, 2026, President Xi Jinping conducted an inspection of the Galbot G1 robot in Beijing and met with Prof. He Wang, together with other leaders in technology innovation.
Preprint
StereoVLA: Enhancing Vision-Language-Action Models with Stereo Vision
Shengliang Deng*, Mi Yan*, Yixin Zheng*, Jiayi Su, Wenhao Zhang, Xiaoguang Zhao, Heming Cui, Zhizheng Zhang†, He Wang†
MM-Nav: Multi-View VLA Model for Robust Visual Navigation via Multi-Expert Learning
Tianyu Xu*, Jiawei Chen*, Jiazhao Zhang*, Wenyao Zhang, Zekun Qi, Minghan Li, Zhizheng Zhang†, He Wang†
SELECTED PUBLICATIONS
CLAR: Learning 3D Representations for Robotic Manipulation by Fusing Masked Reconstruction with Multi-Level Contrastive Alignment
Wenbo Cui*, Chengyang Zhao*, Yuhui Chen, Haoran Li, Zhizheng Zhang, Dongbin Zhao, He Wang†
ICRA 2026
NavGSim: High-Fidelity Gaussian Splatting Simulator for Large-Scale Navigation
Jiahang Liu*, Yuanxing Duan*, Jiazhao Zhang*, Minghan Li, Shaoan Wang, Zhizheng Zhang†, He Wang†
ICRA 2026
Robust Differentiable Collision Detection for General Objects
Jiayi Chen, Wei Zhao, Liangwang Ruan, Baoquan Chen, He Wang†
ICRA 2026
UrbanVLA: A Vision-Language-Action Model for Urban Micromobility
Anqi Li*, Zhiyong Wang*, Jiazhao Zhang*, Minghan Li, Zhibo Chen, Zhizheng Zhang†, He Wang†
ICRA 2026
TrackVLA++: Unleashing Reasoning and Memory Capabilities in VLA Models for Embodied Visual Tracking
Jiahang Liu*, Yunpeng Qi*, Jiazhao Zhang*, Minghan Li, Shaoan Wang, Kui Wu, Hanjing Ye, Hong Zhang, Zhibo Chen, Fangwei Zhong, Zhizheng Zhang†, He Wang†
ICRA 2026
Track Any Motions under Any Disturbances
Zhikai Zhang*, Jun Guo*, Chao Chen, Jilong Wang, Chenghuai Lin, Yunrui Lian, HanXue, Zhenrong Wang, Maoqi Liu, Jiangran Lyu, Huaping Liu, He Wang, Li Yi†
ICRA 2026
OmniSpatial: Towards Comprehensive Spatial Reasoning Benchmark for Vision Language Models
Mengdi Jia*, Zekun Qi*, Shaochen Zhang, Wenyao Zhang, Xinqiang Yu, Jiawei He, He Wang†, Li Yi†
ICLR 2026
Embodied Navigation Foundation Model
Jiazhao Zhang*, Anqi Li*, Yunpeng Qi*, Minghan Li*, Jiahang Liu, Shaoan Wang, Haoran Liu, Gengze Zhou, Yuze Wu, Xingxing Li, Yuxin Fan, Wenjun Li, Zhibo Chen, Fei Gao, Qi Wu, Zhizheng Zhang†, He Wang†
ICLR 2026
DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model
Xueyi Liu, He Wang, Li Yi†
ICLR 2026
FoldNet: Learning Generalizable Closed-Loop Policy for Garment Folding via Keypoint-Driven Asset and Demonstration Synthesis
Yuxing Chen*, Bowen Xiao*, He Wang†
RA-L
Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space
Zhikai Zhang*, Chao Chen*, Han Xue*, Jilong Wang, Sikai Liang, Yun Liu, Zongzhang Zhang, He Wang, Li Yi†
RA-L
SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation
Zekun Qi*, Wenyao Zhang*, Yufei Ding*, Runpei Dong, XinQiang Yu, Jingwen Li, Lingyun Xu, Baoyu Li, Xialin He, Guofan Fan, Jiazhao Zhang, Jiawei He, Jiayuan Gu, Xin Jin, Kaisheng Ma, Zhizheng Zhang†, He Wang†, Li Yi†
NeurIPS 2025 (spotlight)
Advancing general robotic manipulation with multimodal foundation models: Anembodied Al paradigm
Shifeng Huang, He Wang, Xing Zhou, Wenkai Chen, Haibin Yang, Jianwei Zhang†
SCIENCE CHINA Technological Sciences
TrackVLA: Embodied Visual Tracking in the Wild
Shaoan Wang*, Jiazhao Zhang*, Minghan Li, Jiahang Liu, Anqi Li, Kui Wu, Fangwei Zhong, Junzhi Yu, Zhizheng Zhang†, He Wang†
CoRL 2025
FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real
Weiheng Liu*, Yuxuan Wan*, Jilong Wang, Yuxuan Kuang, Wenbo Cui, Xuesong Shi, Haoran Li, Dongbin Zhao, Zhizheng Zhang†, He Wang†
CoRL 2025（Oral）
GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
Shengliang Deng*, Mi Yan*, Songlin Wei, Haixin Ma, Yuxin Yang, Jiayi Chen, Zhiqi Zhang, Taoyu Yang, Xuheng Zhang, Heming Cui, Zhizheng Zhang†, He Wang†
CoRL 2025
DexVLG: Dexterous Vision-Language-Grasp Model at Scale
Jiawei He*, Danshi Li*, Xinqiang Yu*, Zekun Qi, Wenyao Zhang, Jiayi Chen, Zhaoxiang Zhang†, Zhizheng Zhang†, Li Yi†, He Wang†
ICCV 2025（highlight）
DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation
Jiangran Lyu, Ziming Li, Xuesong Shi, Chaoyi Xu, Yizhou Wang†, He Wang†
ICCV 2025
RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments
Yuxing Chen, Songlin Wei, Bowen Xiao, Jiangran Lyu, Jiayi Chen, Feng Zhu, He Wang†
RA-L
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
Jiayi Chen*, Yubin Ke*, Lin Peng, He Wang†
RSS 2025
Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks
Jiazhao Zhang, Kunyu Wang, Shaoan Wang, Minghan Li, Haoran Liu, Songlin Wei, Zhongyuan Wang, Zhizheng Zhang†, He Wang†
RSS 2025
Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools
Yang You, Bokui Shen, Congyue Deng, Haoran Geng, Songlin Wei, He Wang, Leonidas J. Guibas†
RA-L 2025
Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection
Enshen Zhou*, Qi Su*, Cheng Chi*†, Zhizheng Zhang, Zhongyuan Wang, Tiejun Huang, Lu Sheng†, He Wang†
CVPR 2025
MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data
Zifan Wang*, Ziqing Chen*, Junyu Chen*, Jilong Wang, Yuxin Yang, Yunze Liu, Xueyi Liu, He Wang, Li Yi†
CVPR 2025
GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulation
Wenbo Cui*, Chengyang Zhao* , Songlin Wei* , Jiazhao Zhang, Haoran Geng, Yaran Chen, He Wang†
ICRA 2025
BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization
Jiayi Chen*, Yubin Ke*, He Wang†
ICRA 2025
NaVid-4D: Unleashing Spatial Intelligence in Egocentric RGB-D Videos for Vision-and-Language Navigation
Haoran Liu*, Weikang Wan*, Xiqian Yu*, Minghan Li*, Jiazhao Zhang, Bo Zhao, Zhibo Chen, Zhongyuan Wang, Zhizheng Zhang†, He Wang†
ICRA 2025
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping
Jilong Wang*, Javokhirbek Rajabov*, Chaoyi Xu, Yiming Zheng, He Wang†
ICRA 2025
Watch Less, Feel More: Direct Sim-to-real RL for Articulated Object Manipulation with Motion Adaptation and Impedance Control
Tan-Dzung Do, Gireesh Nandiraju, Jilong Wang, He Wang†
ICRA 2025
W-ControlUDA: Weather-Controllable Diffusion-assisted Unsupervised Domain Adaptation for Semantic Segmentation
Fengyi Shen, Li Zhou, Kagan Kucukaytekin, George Eskandar, Ziyuan Liu, He Wang†, Alois Knoll†
RA-L
Towards Robust Probabilistic Modeling on SO(3) via Rotation Laplace Distribution
Yingda Yin*, Jiangran Lyu*, Yang Wang, He Wang†, Baoquan Chen†
TPAMI
D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation
Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Wenbo Cui, Chengyang Zhao, Xiaomeng Fang, Leonidas J. Guibas, He Wang†
CoRL 2024
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
Jialiang Zhang*, Haoran Liu*, Danshi Li*, Xinqiang Yu*, Haoran Geng, Yufei Ding, Jiayi Chen, He Wang†
CoRL 2024
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation
Yuxuan Kuang*, Junjie Ye*, Haoran Geng*, Jiageng Mao, Congyue Deng, Leonidas J. Guibas, He Wang, Yue Wang†
CoRL 2024
ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
Jiangran Lyu, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu, Yizhou Wang†, He Wang†
CoRL 2024
Task-Oriented Dexterous Grasp Synthesis via Differentiable Grasp Wrench Boundary Estimator
Jiayi Chen, Yuxing Chen, Jialiang Zhang, He Wang†
IROS 2024
Open6DOR: Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach
Yufei Ding*, Haoran Geng*, Chaoyi Xu, Xiaomeng Fang, Jiazhao Zhang, Songlin Wei, Qiyu Dai, Zhizheng Zhang, He Wang†
IROS 2024 (Oral Presentation)
NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation
Jiazhao Zhang*, Kunyu Wang*, Rongtao Xu*, Gengze Zhou, Yicong Hong, Xiaomeng Fang, Qi Wu, Zhizheng Zhang†, He Wang†
RSS 2024
SAGE: Bridging Semantic and Actionable Parts for Generalizable Manipulation of Articulated Objects
Haoran Geng*, Songlin Wei*, Congyue Deng, Bokui Shen, He Wang†, Leonidas J. Guibas†
RSS 2024
Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensing
Yun Liu*, Xiaomeng Xu*, Weihang Chen, Haocheng Yuan, He Wang, Jing Xu, Rui Chen, Li Yi†
RA-L
MaskClustering: View Consensus based Mask Graph Clustering for Open-Vocabulary 3D Instance Segmentation
Mi Yan, Jiazhao Zhang, Yan Zhu, He Wang†
CVPR 2024
STOPNet: Multiview-based 6-DoF Suction Detection for Transparent Objects on Production Lines
Yuxuan Kuang*, Qin Han*, Danshi Li, Qiyu Dai, Lian Ding, Dong Sun, Hanlin Zhao, He Wang†
ICRA 2024
GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion
Jiazhao Zhang*, Nandiraju Gireesh*, Jilong Wang, Xiaomeng Fang, Chaoyi Xu, Weiguang Chen, Liu Dai, He Wang†
ICRA 2024
ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera
Jun Shi, Yong A, Yixiang Jin, Dingzhe Li, Haoyu Niu, Zhezhu Jin, He Wang†
ICRA 2024
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)
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)
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
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
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
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
DiGA: Distil to Generalize and then Adapt for Domain Adaptive Semantic Segmentation
Fengyi Shen, Akhil Gurram, Ziyuan Liu, He Wang†, Alois Knoll†
CVPR 2023
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
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)
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
A Laplace-inspired Distribution on SO(3) for Probabilistic Rotation Estimation
Yingda Yin, Yang Wang, He Wang†, Baoquan Chen†
ICLR 2023 (notable top 25%)
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)
ASRO-DIO: Active Subspace Random Optimization Based Depth Inertial Odometry
Jiazhao Zhang, Yijie Tang, He Wang, Kai Xu†
IEEE Transactions on Robotics (T-RO)
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
Learning Category-Level Generalizable Object Manipulation Policy via Generative Adversarial Self-Imitation Learning from Demonstrations
Hao Shen*, Weikang Wan*, He Wang†
FisherMatch: Semi-Supervised Rotation Regression via Entropy-based Filtering
Yingda Yin, Yingcheng Cai, He Wang†, Baoquan Chen†
CVPR 2022 (Oral Presentation)
Projective Manifold Gradient Layer for Deep Rotation Regression
Jiayi Chen, Yingda Yin, Tolga Birdal, Baoquan Chen, Leonidas Guibas, He Wang†
CVPR 2022
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)
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
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
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
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)
3DIoUMatch: Leveraging IoU Prediction for Semi-Supervised 3D Object Detection
He Wang*, Yezhen Cong*, Or Litany, Yue Gao, Leonidas J. Guibas
ICCV 2021
MultiBodySync: Multi-Body Segmentation and Motion Estimation via 3D Scan Synchronization
Jiahui Huang, He Wang, Tolga Birdal, Minkyuk Sung, Federica Arrigoni, Shi-Min Hu, Leonidas J. Guibas
CVPR 2021 (Oral Presentation)
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)
Category-Level Articulated Object Pose Estimation
He Wang*, Xiaolong Li*, Li Yi, Leonidas J. Guibas, A. Lynn Abbott, Shuran Song†
CVPR 2020 (Oral Presentation)
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, Hao Su†
CVPR 2020 (Oral Presentation)
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), WAICYOP Award 2022
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)