Chen Wang

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I am a Ph.D. student at Stanford CS, advised by Prof. Fei-Fei Li and Prof. C. Karen Liu.

Prior to joining Stanford, I received my B.S. in Computer Science from Shanghai Jiao Tong University (2020). I’ve spent time at NVIDIA Research (2022) and MIT CSAIL (2019).

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.


Recent

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
Sep, 2020 Started PhD study at Stanford CS, generously supported by Stanford SoE Fellowship

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

  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

  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

  4. 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

  5. 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

  6. 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

  7. A Dual Representation Framework for Robot Learning with Human Guidance
    Ruohan Zhang, Dhruva Bansal, Yilun Hao, Ayano Hiranaka, Jialu Gao, Chen Wang, Roberto Martı́n-Martı́n, Li Fei-Fei, and Jiajun Wu
    Conference on Robot Learning, CoRL 2022

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

  9. 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

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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

  15. 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

  16. 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