Chen Wang

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I am a final-year PhD student at Stanford CS, advised by Fei-Fei Li and Karen Liu.

My research goal is to build robots with human-like dexterity and capability in handling everyday tasks. To that end, I focus on robot learning for dexterous manipulation, imitation learning from human motion, and long-horizon planning and control.

Previously, I have spent time researching at Google DeepMind (2024), NVIDIA Research (2022) and MIT CSAIL (2019).


Recent

Aug, 2024 Obj-Dex, ReKep, TRANSIC accepted to CoRL 2024
May, 2024 DexCap accepted to RSS 2024
Nov, 2023 MimicPlay selected as Best Paper/Student Paper/Systems Paper Awards Finalist at CoRL 2023
Aug, 2023 SeqDex, MimicPlay, VoxPoser, NOIR accepted to CoRL 2023
Dec, 2022 Got into NVIDIA Graduate Fellowship Finalist
Sep, 2022 Two papers accepted to CoRL 2022
Jun, 2022 GenTP accepted to RA-L 2022
Sep, 2021 Co-GAIL and robomimic accepted to CoRL 2021
Jun, 2021 HAN accepted to IROS 2021
Oct, 2020 SwingBot received best paper award at IROS 2020

Research


  1. DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation
    Chen Wang, Haochen Shi, Weizhuo Wang, Ruohan Zhang, Li Fei-Fei, and C. Karen Liu
    Robotics: Science and Systems, RSS 2024
    PDF Code Website

  2. Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation
    Yuanpei Chen*, Chen Wang*, Li Fei-Fei, and C. Karen Liu
    Conference on Robot Learning, CoRL 2023
    PDF Code Website

  3. MimicPlay: Long-horizon Imitation Learning by Watching Human Play
    Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei, Danfei Xu, Yuke Zhu*, and Anima Anandkumar*
    Conference on Robot Learning, CoRL 2023
    Oral presentation
    Finalist - Best Paper/Best Student Paper Awards
    Finalist - Best Systems Paper Award
    PDF Code Website

  4. Object-Centric Dexterous Manipulation from Human Motion Data
    Yuanpei Chen, Chen Wang, Yaodong Yang, and C Karen Liu
    Conference on Robot Learning, CoRL 2024
    PDF Website

  5. ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
    Wenlong Huang, Chen Wang*, Yunzhu Li*, Ruohan Zhang, and Li Fei-Fei
    Conference on Robot Learning, CoRL 2024
    PDF Code Website

  6. TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
    Yunfan Jiang, Chen Wang, Ruohan Zhang, Jiajun Wu, and Li Fei-Fei
    Conference on Robot Learning, CoRL 2024
    PDF Code Website

  7. VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
    Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, and Li Fei-Fei
    Conference on Robot Learning, CoRL 2023
    Oral presentation
    PDF Code Website

  8. NOIR: Neural Signal Operated Intelligent Robot for Everyday Activities
    Sharon Lee*, Ruohan Zhang*, Minjune Hwang*, Ayano Hiranaka*, Chen Wang, Wensi Ai, Jin Jie Ryan Tan, Shreya Gupta, Yilun Hao, Gabrael Levine, Ruohan Gao, Anthony Norcia, Jiajun Wu*, and Li Fei-Fei*
    Conference on Robot Learning, CoRL 2023
    PDF Website

  9. BEHAVIOR-1K: A Benchmark for Embodied AI with 1,000 Everyday Activities and Realistic Simulation
    Chengshu Li*, Ruohan Zhang*, Josiah Wong*, Cem Gokmen*, Sanjana Srivastava*, Roberto Martin-Martin*, Chen Wang*, Gabrael Levine*, Michael Lingelbach, Jiankai Sun, Mona Anvari, Minjune Hwang, Manasi Sharma, Arman Aydin, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb R. Matthews, Ivan Villa-Renteria, Jerry Huayang Tang, Claire Tang, Fei Xia, Silvio Savarese, Hyowon Gweon, C. Karen Liu, Jiajun Wu, and Li Fei-Fei
    Conference on Robot Learning, CoRL 2022
    Oral presentation
    PDF Code Website

  10. Generalizable Task Planning through Representation Pretraining
    Chen Wang, Danfei Xu, and Li Fei-Fei
    Robotics and Automation Letters, RA-L 2022
    PDF Code Website

  11. Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration
    Chen Wang, Claudia Pérez-D’Arpino, Danfei Xu, Li Fei-Fei, C. Karen Liu, and Silvio Savarese
    Conference on Robot Learning, CoRL 2021
    PDF Code Website

  12. What matters in learning from offline human demonstrations for robot manipulation
    Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martı́n-Martı́n
    Conference on Robot Learning, CoRL 2021
    Oral presentation
    PDF Code Website

  13. Generalization through hand-eye coordination: An action space for learning spatially-invariant visuomotor control
    Chen Wang*, Rui Wang*, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, and Danfei Xu
    International Conference on Intelligent Robots and Systems, IROS 2021
    PDF Website Video

  14. Swingbot: Learning physical features from in-hand tactile exploration for dynamic swing-up manipulation
    Chen Wang*, Shaoxiong Wang*, Branden Romero, Filipe Veiga, and Edward Adelson
    International Conference on Intelligent Robots and Systems, IROS 2020
    Best Paper Award
    PDF Website Video Patent

  15. 6-PACK: Category-level 6d pose tracker with anchor-based keypoints
    Chen Wang, Roberto Martı́n-Martı́n, Danfei Xu, Jun Lv, Cewu Lu, Li Fei-Fei, Silvio Savarese, and Yuke Zhu
    International Conference on Robotics and Automation, ICRA 2020
    PDF Code Website Video

  16. Densefusion: 6d object pose estimation by iterative dense fusion
    Chen Wang, Danfei Xu, Yuke Zhu, Roberto Martı́n-Martı́n, Cewu Lu, Li Fei-Fei, and Silvio Savarese
    Computer Vision and Pattern Recognition, CVPR 2019
    PDF Code Website Video

  17. Transferable force-torque dynamics model for peg-in-hole task
    Junfeng Ding*, Chen Wang*, and Cewu Lu
    International Conference on Intelligent Robots and Systems, IROS 2019
    PDF Video

  18. TendencyRL: Multi-stage discriminative hints for efficient goal-oriented reverse curriculum learning
    Chen Wang*, Junfeng Ding*, Xiangyu Chen, Zelin Ye, Jialu Wang, Ziruo Cai, Shixiang Gu, and Cewu Lu
    Deep Reinforcement Learning Symposium, NIPS Symposium 2017
    Poster Video