Jiayi Chen

Jiayi Chen | 陈嘉毅

I am a third-year Ph.D. student in computer science at Peking University, advised by Prof. He Wang.

Before that, I obtained my B.S. in Computer Science from Peking University. Currently, I'm also an research intern at Galbot.

My research interests lie in Robotics and Computer Vision, with a focus on dexterous grasping and manipulation. I am exploring how to effectively combine traditional planning methods with modern learning-based approaches to build working robotic systems for dexterous hands.

Email / Google Scholar / Github

Publications

*: equal contribution; †: corresponding author(s)

	Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy Jiayi Chen, Yubin Ke, Lin Peng, He Wang† RSS, 2025 project page / arXiv / code /
	BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization Jiayi Chen, Yubin Ke, He Wang† ICRA, 2025 project page / arXiv / code / benchmark / dataset
	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 project page / arXiv / code
	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 Guibas, He Wang† CoRL, 2024 project page / arXiv / code
	Task-Oriented Dexterous Grasp Synthesis Using Differentiable Grasp Wrench Boundary Estimator Jiayi Chen, Yuxing Chen, Jialiang Zhang, He Wang† IROS, 2024 project page / arXiv / code
	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 project page / arXiv / code
	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 Finalist) project page / arXiv / code
	Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild Jiayi Chen, Mi Yan, Jiazhao Zhang, Yinzhen Xu, Xiaolong Li, Yijia Weng, Li Yi, Shuran Song, He Wang† AAAI, 2023 (Oral Presentation) project page / arXiv / code
	Projective Manifold Gradient Layer for Deep Rotation Regression Jiayi Chen, Yingda Yin, Tolga Birdal, Baoquan Chen, Leonidas Guibas, He Wang† CVPR, 2022 project page / arXiv / code

Experience

Template stolen from Jon Barron.
Last updated: April 29, 2025

	Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy Jiayi Chen, Yubin Ke, Lin Peng, He Wang† RSS, 2025 project page / arXiv / code /
	BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization Jiayi Chen, Yubin Ke, He Wang† ICRA, 2025 project page / arXiv / code / benchmark / dataset
	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 project page / arXiv / code
	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 Guibas, He Wang† CoRL, 2024 project page / arXiv / code
	Task-Oriented Dexterous Grasp Synthesis Using Differentiable Grasp Wrench Boundary Estimator Jiayi Chen, Yuxing Chen, Jialiang Zhang, He Wang† IROS, 2024 project page / arXiv / code
	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 project page / arXiv / code
	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 Finalist) project page / arXiv / code
	Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild Jiayi Chen, Mi Yan, Jiazhao Zhang, Yinzhen Xu, Xiaolong Li, Yijia Weng, Li Yi, Shuran Song, He Wang† AAAI, 2023 (Oral Presentation) project page / arXiv / code
	Projective Manifold Gradient Layer for Deep Rotation Regression Jiayi Chen, Yingda Yin, Tolga Birdal, Baoquan Chen, Leonidas Guibas, He Wang† CVPR, 2022 project page / arXiv / code