Hao Dong - Peking University (original) (raw)

About Me

I am an Assistant Professor at School of Computer Science, Peking University, where I lead PKU-Agibot Lab.

My current research focuses on embodied AI, large models, reinforcement learning and computer vision.

Our goal is to find the scaling law to create a cost-effective and autonomous robot system.

Our work has been recognized as a [Best Application Paper Finalist](images/award/2024 IROS Best Application Paper Finalist.pdf) at IROS 2024,[ Outstanding Young Researcher Paper nomination award](images/award/2025 UniGarmentManip CEAI.jpg) at China Embodied AI Conference 2025, and I was awarded the [ByteDance Best Mentor Award 2024](images/award/2024 bytedance best mentor award.jpg).

Additionally, I am fortunate to serve as an Area Chair or Senior Program Committee member for CVPR, NeurIPS and AAAI conferences, and as the Associate Editor of ICRA and Machine Intelligence Research. I received the[MIR Outstanding Associate Editor Award](images/award/2023 MIR Oustanding Associate Editor Award-Hao Dong.pdf). Also, I have been involved in open source AI system for a long time, I have led several open source projects, such asPolar Research Station,TensorLayer GitHub Stars and OpenMLsys GitHub Stars , and have won the [Best Open Source Software Award](paper/ACM MM Certification.pdf) at ACM Multimedia, as well as the OpenI Outstanding Project Award twice.

more Before joining PKU, I obtained my Ph.D. degree from Imperial College London under the supervision of Yike Guo. Prior to my Ph.D., I received a MSc degree with distinction from Imperial, and a first-class BEng degree from the University of Central Lancashire. Furthermore, I have founded a startup focused on AI-driven hardware between 2012 and 2015.

News

PKU-Agibot Lab

Our lab welcomes research interns, masters, PhD candidates and postdocs. The current research interests include:

Services

Books
Deep Reinforcement Learning: Fundamentals, Research and Applications Hao Dong, Zihan Ding, Shanghang Zhang Eds. Springer Nature 2020 ISBN 978-981-15-4094-3 --- A Selection of the High-impact Publications in CS by Chinese Researchers from Springer Nature Chinese version 深度强化学习：基础、研究与应用 董豪、丁子涵、仉尚航 等著（简体中文译本 Simplified Chinese） 电子工业出版社 2021 ISBN 978-7-121-41188-5 新一代AI霸主 - 深度強化學習 董豪、丁子涵、仉尚航 等著（繁體中文譯本 Traditional Chinese） 深智數位 2022 ISBN 978-986-0776-82-9 [Free Open Source Book] [Springer ] [Broadview] [繁体版本] [京东]
Machine Learning System: Design and ImplementationLuo Mai, Hao Dong Eds. Springer Nature coming soon Chinese version 机器学习系统：设计与实现 麦络、董豪 等著 清华大学出版社 Tsinghua University Press 2023 ISBN 978-7-302-63007-4 [OpenMLsys GithubGitHub Stars] [English Open Source Book (coming soon)] [Chinese Open Source Book] [京东]
Papers ( show selected / show more )
From Strangers to Assistants: Fast Desire Alignment for Embodied Agent-User Adaptation Yuanfei Wang, Xinju Huang, Fangwei Zhong, Yaodong Yang, Yizhou Wang, Yuanpei Chen, Hao Dong arXiv 2025 [Paper]
SpikeStereoNet: A Brain-Inspired Framework for Stereo Depth Estimation from Spike Streams Zhuoheng Gao, Yihao Li, Jiyao Zhang, Rui Zhao, Tong Wu, Hao Tang, Zhaofei Yu, Hao Dong†, Guozhang Chen†, Tiejun Huang arXiv 2025 [Paper]
DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy Yuran Wang, Ruihai Wu, Yue Chen. Jiarui Wang, Jiaqi Liang, Ziyu Zhu, Haoran Geng, Jitendra Malik, Pieter Abbeel, Hao Dong arXiv 2025 [Paper] [Webpage] [机器之心]
Adaptive Visual-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation Jinzhou Li, Tianhao Wu, Jiyao Zhang, Zeyuan Chen, Haotian Jin, Mingdong Wu, Yujun Shen, Yaodong Yang, Hao Dong International Conference on Intelligent Robots and Systems (IROS) 2025 (Oral) [Paper] [Webpage]
RwoR: Generating Robot Demonstrations from Human Hand Collection for Policy Learning without Robot Liang Heng, Xiaoqi Li, Shangqing Mao, Jiaming Liu, Ruolin Liu, Jingli Wei, Yu-Kai Wang, Jia Yueru, Chenyang Gu, Rui Zhao, Shanghang Zhang, Hao Dong International Conference on Intelligent Robots and Systems (IROS) 2025 (Oral) [Paper] [Webpage]
SimLauncher: Launching Sample-Efficient Real-world Robotic Reinforcement Learning via Simulation Pre-training Mingdong Wu, Lehong Wu, Yizhuo Wu, Weiyao Huang, Hongwei Fan, Zheyuan Hu, Haoran Geng, Jinzhou Li, jiahe ying, Long Yang, Yuanpei Chen, Hao Dong International Conference on Intelligent Robots and Systems (IROS) 2025 (Oral) [Paper] [Webpage]
ManipGPT: Is Affordance Segmentation by Large Vision Models Enough for Articulated Object Manipulation? Taewhan Kim, Hojin Bae, Zeming Li, Xiaoqi Li, Iaroslav Ponomarenko, Ruihai Wu, Hao Dong International Conference on Intelligent Robots and Systems (IROS) 2025 (Oral) [Paper] [Webpage]
SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Grasping Mingxu Zhang, Xiaoqi Li, Jiahui Xu, Kaichen Zhou, Hojin Bae, Yan Shen, Chuyan Xiong, Jiaming Liu, Hao Dong International Conference on Intelligent Robots and Systems (IROS) 2025 (Oral) [Paper] [Webpage]
LLM2Rewards: Boosting Universal LLM Reward Design through Heuristic Reward Observation Space Evolution Zen Kit Heng, Zimeng Zhao, Tianhao Wu, Yuanfei Wang, Mingdong Wu, Yangang Wang, Hao Dong arXiv 2025 [Paper] [Webpage]
BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assembly Yan Shen, Ruihai Wu, Yubin Ke, Xinyuan Song, Zeyi Li, Xiaoqi Li, Hongwei Fan, Haoran Lu, Hao Dong International Conference on Machine Learning (ICML) 2025 [Paper] [Webpage] [Code]
CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World Yankai Fu, Qiuxuan Feng, Ning Chen, Zichen Zhou, Mengzhen Liu, Mingdong Wu, Tianxing Chen, Shanyu Rong, Jiaming Liu, Hao Dong, Shanghang Zhang Robotics: Science and Systems (RSS) 2025 [Paper] [Webpage] [Code]
ROBOVERSE: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng, Feishi Wang, Songlin Wei, Yuyang Li, Bangjun Wang, Boshi An, Charlie Tianyue Cheng, Haozhe Lou, Peihao Li, Yen-Jen Wang, Yutong Liang, Dylan Goetting , Chaoyi Xu, Haozhe Chen, Yuxi Qian, Yiran Geng, Jiageng Mao, Weikang Wan, Mingtong Zhang , Jiangran Lyu, Siheng Zhao, Jiazhao Zhang, Jialiang Zhang, Chengyang Zhao, Haoran Lu , Yufei Ding, Ran Gong, Yuran Wang, Yuxuan Kuang, Ruihai Wu, Baoxiong Jia, Carlo Sferrazza Hao Dong, Siyuan Huang, Koushil Sreenath, Yue Wang, Jitendra Malik, Pieter Abbeel Robotics: Science and Systems (RSS) 2025 [Paper] [Webpage] [Document] [Code]GitHub Stars [机器之心]
PartRM: Modeling Part-Level Dynamics with Large 4D Reconstruction Model Mingju Gao, Yike Pan, Huan-ang Gao, Zongzheng Zhang, Wenyi Li, Hao Dong, Hao Tang, Li Yi, Hao Zhao Conference on Computer Vision and Pattern Recognition (CVPR) 2025 [Paper] [Webpage] [Code]
GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulation Ruihai Wu, Ziyu Zhu, Yuran Wang, Yue Chen, Jiarui Wang, Hao Dong Conference on Computer Vision and Pattern Recognition (CVPR) 2025 [Paper] [Webpage] [Code] [北大公众号]
CheckManual: A New Challenge and Benchmark for Manual-based Appliance Manipulation Yuxing Long, Jiyao Zhang, Mingjie Pan, Tianshu Wu, Taewhan Kim, Hao Dong Conference on Computer Vision and Pattern Recognition (CVPR) 2025 (Highlight) [Paper] [Webpage] [Code]
CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation Xiaoqi Li, Lingyun Xu, Mingxu Zhang, Jiaming Liu, Yan Shen, Iaroslav Ponomarenko, Jiahui Xu, Liang Heng, Siyuan Huang, Shanghang Zhang, Hao Dong Conference on Computer Vision and Pattern Recognition (CVPR) 2025 [Paper] [Webpage] [Code] [公众号]
OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints Mingjie Pan, Jiyao Zhang, Tianshu Wu, Yinghao Zhao, Wenlong Gao, Hao Dong Conference on Computer Vision and Pattern Recognition (CVPR) 2025 (Highlight) [Paper] [Webpage] [公众号]
Foundation Feature-Driven Online End-Effector Pose Estimation: A Marker-Free and Learning-Free Approach Tianshu Wu, Jiyao Zhang, Sheldon Liang, Zhengxiao Han, Hao Dong International Conference on Robotics and Automation (ICRA) 2025 [Paper] [Webpage]
SpatialBot: Precise Spatial Understanding with Vision Language Models Wenxiao Cai, Yaroslav Ponomarenko, Jianhao Yuan, Xiaoqi Li, Wankou Yang, Hao Dong, Bo Zhao International Conference on Robotics and Automation (ICRA) 2025 [Paper] [Code] [机器之心]
TransDiff: Diffusion-Based Method for Manipulating Transparent Objects Using a Single RGB-D Image Haoxiao Wang, Kaichen Zhou, Binrui Gu, ZhiYuan Feng, Weijie Wang, Peilin Sun, Yicheng Xiao, Jianhua Zhang, Hao Dong International Conference on Robotics and Automation (ICRA) 2025 [Paper] [Webpage]
3DTacDex: Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning Tianhao Wu, Jinzhou Li, Jiyao Zhang, Mingdong Wu, Hao Dong International Conference on Robotics and Automation (ICRA) 2025 [Paper] [Webpage] [Code] [Policy] [Teleoperation]
3DWG: 3D Weakly Supervised Visual Grounding via Category and Instance-Level Alignment Xiaoqi Li, Jiaming Liu, Nuowei Han, Liang Heng, Yandong Guo, Hao Dong, Yang Liu International Conference on Robotics and Automation (ICRA) 2025 [Paper]
Seer: Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation Yang Tian, Sizhe Yang, Jia Zeng, Ping Wang, Dahua Lin, Hao Dong, Jiangmiao Pang International Conference on Learning Representations (ICLR) 2025 (Oral 1.8%) [Paper] [Webpage] [Code]
AdaManip: Adaptive Articulated Object Manipulation Environments and Policy Learning Yuanfei Wang, Xiaojie Zhang, Ruihai Wu, Yu Li, Yan Shen, Mingdong Wu, Zhaofeng He, Yizhou Wang, Hao Dong International Conference on Learning Representations (ICLR) 2025 [Paper] [Webpage] [Code]
ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policy Chenrui Tie, Yue Chen, Ruihai Wu, Boxuan Dong, Zeyi Li, Chongkai Gao, Hao Dong International Conference on Learning Representations (ICLR) 2025 [Paper] [Webpage] [Code]
Efficient and Scalable Reinforcement Learning for Large-scale Network Control Chengdong Ma, Aming Li, Yali Du, Hao Dong, Yaodong Yang Nature Machine Intelligence (NMI) 2024 [Paper] [新华网] [科技日报]
GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation Haoran Lu, Yitong Li, Ruihai Wu, Sijie Li, Ziyu Zhu, Chuanruo Ning, Yan Shen, Longzan Luo, Yuanpei Chen, Hao Dong Neural Information Processing System (NeurIPS) 2024 [Paper] [Webpage] [Code] [Docs] [公众号]
MO-DDN: A Coarse-to-Fine Attribute-based Exploration Agent for Multi-Object Demand-driven Navigation Hongcheng Wang, Peiqi Liu, Wenzhe Cai, Mingdong Wu, Zhengyu Qian, Hao Dong Neural Information Processing System (NeurIPS) 2024 [Paper] [Webpage] [Code]
Human-centered In-building Embodied Delivery Benchmark Zhuoquan Xu, Yang Liu, Xiaoqi Li, Jiyao Zhang, Hao Dong arXiv 2024 [Paper] [Webpage]
UniDexFPM: Universal Dexterous Functional Pre-grasp Manipulation via Diffusion Policy Tianhao Wu, YunChong Gan, Mingdong Wu, Jingbo Cheng, Yaodong Yang, Yixin Zhu, Hao Dong arXiv 2024 [Paper] [Webpage]
GFPack++: Improving 2D Irregular Packing by Learning Gradient Field with Attention Tianyang Xue, Lin Lu, Yang Liu, Mingdong Wu, Hao Dong, Yanbin Zhang, Renmin Han, Baoquan Chen arXiv 2024 [Paper]
InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment --- The world's first general navigation large model that unifies visual-language navigation, object navigation as well as demand-driven navigation into one single framework. Yuxing Long, Wenzhe Cai, Hongcheng Wang, Guanqi Zhan, Hao Dong Conference on Robot Learning (CoRL) 2024 [Paper] [Webpage] [Code] [量子位]
AIC-MLLM: Autonomous Interactive Correction MLLM for Robust Robotic Manipulation --- The first automatic system for low-level end-effector action correction in manipulation tasks. Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jiaming Liu, Ruiping Wang, Hao Dong Conference on Robot Learning (CoRL) 2024 [Paper] [Webpage]
A3VLM: Actionable Articulation-Aware Vision Language Model Siyuan Huang, Haonan Chang, Yuhan Liu, Yimeng Zhu, Hao Dong, Peng Gao, Abdeslam Boularias, Hongsheng Li Conference on Robot Learning (CoRL) 2024 [Paper] [Code] [OpenGVLab摘要]
NaturalVLM: Leveraging Fine-grained Natural Language for Affordance-Guided Visual Manipulation Ran Xu, Yan Shen, Xiaoqi Li, Ruihai Wu, Hao Dong IEEE Robotics and Automation Letters (RAL) 2024 [Paper] [Webpage]
UniDoorManip: Learning Universal Door Manipulation Policy over Large-scale and Diverse Door Manipulation Environments Yu Li*, Xiaojie Zhang*, Ruihai Wu*, Zilong Zhang, Yiran Geng, Hao Dong, Zhaofeng He arXiv 2024 [Paper] [Webpage] [量子位]
Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Tracking --- The largest-scale benchmark for universal 6D object pose estimation. Jiyao Zhang, Weiyao Huang, Bo Peng, Mingdong Wu, Fei Hu, Zijian Chen, Bo Zhao, Hao Dong European Conference on Computer Vision (ECCV) 2024 [Paper] [Webpage] [Code] [计算机视觉工坊]
Local Occupancy-Enhanced Object Grasping with Multiple Triplanar Projection Kangqi Ma, Hao Dong, Yadong Mu European Conference on Computer Vision (ECCV) 2024 [Paper]
PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments Kairui Ding, Boyuan Chen, Ruihai Wu, Yuyang Li, Zongzheng Zhang, Huan-ang Gao, Siqi Li, Yixin Zhu, Guyue Zhou, Hao Dong, Hao Zhao International Conference on Intelligent Robots and Systems (IROS) 2024 (Oral) [Paper] [Webpage] [Code]
ManipVQA: Injecting Robotic Affordance and Physically Grounded Information into Multi-Modal Large Language Models Siyuan Huang, Iaroslav Ponomarenko, Zhengkai Jiang, Xiaoqi Li, Xiaobin Hu, Peng Gao, Hongsheng Li, Hao Dong International Conference on Intelligent Robots and Systems (IROS) 2024 (Oral) [Paper] [Code]
SCANet: Correcting LEGO Assembly Errors with Self-Correct Assembly Network --- Best Application Paper Finalist (4/3645) Yuxuan Wan, Kaichen Zhou, Jinhong Chen, Hao Dong International Conference on Intelligent Robots and Systems (IROS) 2024 (Oral) [Paper] [Webpage] [Code] [公众号] [[Certification](images/award/2024 IROS Best Application Paper Finalist.pdf)]
Broadcasting Support Relations Recursively from Local Dynamics for Object Retrieval in Clutters Yitong Li*, Ruihai Wu*, Haoran Lu, Chuanruo Ning, Yan Shen, Guanqi Zhan, Hao Dong Robotics: Science and Systems (RSS) 2024 [Paper] [Webpage] [Code]
MPI: Learning Manipulation by Predicting Interaction Jia Zeng, Qingwen Bu, Bangjun Wang, Wenke Xia, Li Chen, Hao Dong, Haoming Song, Dong Wang, Di Hu, Ping Luo, Heming Cui, Bin Zhao, Xuelong Li, Yu Qiao, Hongyang Li Robotics: Science and Systems (RSS) 2024 [Paper] [Webpage] [Code]
A Survey of Reasoning with Foundation Models Jiankai Sun, Chuanyang Zheng, Enze Xie, Zhengying Liu, Ruihang Chu, Jianing Qiu, Jiaqi Xu, Mingyu Ding, Hongyang Li, Mengzhe Geng, Yue Wu, Wenhai Wang, Junsong Chen, Zhangyue Yin, Xiaozhe Ren, Jie Fu, Junxian He, Wu Yuan, Qi Liu, Xihui Liu, Yu Li, Hao Dong, Yu Cheng, Ming Zhang, Pheng Ann Heng, Jifeng Dai, Ping Luo, Jingdong Wang, Ji-Rong Wen, Xipeng Qiu, Yike Guo, Hui Xiong, Qun Liu, Zhenguo Li arXiv 2023 [Paper] [Github]GitHub Stars
LVDiffusor: Distilling Functional Rearrangement Priors from Large Models into Diffusor Yiming Zeng*, Mingdong Wu*, Long Yang, Jiyao Zhang, Hao Ding, Hui Cheng, Hao Dong IEEE Robotics and Automation Letters (RAL) 2024 [Paper] [Webpage] [Code]
Pattern4Ego: Learning Egocentric Video Representation Using Cross-Video Activity Patterns Ruihai Wu, Yourong Zhang, Yu Qi, Andy Guanhong Chen, Hao Dong International Conference on Multimedia Retrieval (ICMR) 2024 [Paper]
ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulation Xiaoqi Li, Mingxu Zhang, Yiran Geng, Haoran Geng, Yuxing Long, Yan Shen, Renrui Zhang, Jiaming Liu, Hao Dong Conference on Computer Vision and Pattern Recognition (CVPR) 2024 [Paper] [Webpage] [Code] [量子位] [强化学习技术前沿] [集智书童]
UniGarmentManip: A Unified Framework for Category-Level Garment Manipulation via Dense Visual Correspondence --- The world's first work of category-level garment manipulation with only few-shot demonstrations --- China Embodied AI Conference 2025 - [ Outstanding Young Researcher Paper nomination award ](images/award/2025 UniGarmentManip CEAI.jpg) Ruihai Wu, Haoran Lu, Yiyan Wang, Yubo Wang, Hao Dong Conference on Computer Vision and Pattern Recognition (CVPR) 2024 [Paper] [Webpage] [Code]
No Time to Train: Empowering Non-Parametric Networks for Few-shot 3D Scene Segmentation Xiangyang Zhu, Renrui Zhang, Bowei He, Ziyu Guo, Jiaming Liu, Han Xiao, Chaoyou Fu, Hao Dong, Peng Gao Conference on Computer Vision and Pattern Recognition (CVPR) 2024 (Highlight) [Paper] [Code] [公众号]
ImageManip: Image-based Robotic Manipulation with Affordance-guided Next View Selection Xiaoqi Li, Yanzi Wang, Yan Shen, Haoran Lu, Qianxu Wang, Ponomarenko Iaroslav, Boshi An, Jiaming Liu, Hao Dong arXiv 2023 [Paper] [Webpage]
RGBManip: Monocular Image-based Robotic Manipulation through Active Object Pose Estimation Boshi An, Yiran Geng, Kai Chen, Xiaoqi Li, Qi Dou, Hao Dong International Conference on Robotics and Automation (ICRA) 2024 [Paper] [Webpage] [Code] [北大]
Articulated Object Manipulation with Coarse-to-fine Affordance for Mitigating the Effect of Point Cloud Noise Suhan Ling, Yian Wang, Shiguang Wu, Yuzheng Zhuang, Tianyi Xu, Yu Li, Chang Liu, Hao Dong International Conference on Robotics and Automation (ICRA) 2024 [Paper] [Webpage] [Code]
RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generation Yang Tian, Jiyao Zhang, Guowei Huang, Bin Wang, Ping Wang, Jiangmiao Pang, Hao Dong International Conference on Robotics and Automation (ICRA) 2024 [Paper] [Webpage] [Code]
Discuss Before Moving: Visual Language Navigation via Multi-expert Discussions --- The world's first visual language navigation large model system deployed in real world Yuxing Long, Xiaoqi Li, Wenzhe Cai, Hao Dong International Conference on Robotics and Automation (ICRA) 2024 [Paper] [Webpage] [Code] [量子位]
PixNav: Bridging Zero-shot Object Navigation and Foundation Models through Pixel-guided Navigation Skill --- The world's first purely visual-based object goal navigation large model Wenzhe Cai, Siyuan Huang, Guangran Cheng, Yuxing Long, Peng Gao, Changyin Sun, Hao Dong International Conference on Robotics and Automation (ICRA) 2024 [Paper] [Webpage] [Code] [北大]
RGBGrasp: Image-based Object Grasping by Capturing Multiple Views during Robot Arm Movement with Neural Radiance Field Chang Liu, Kejian Shi, Kaichen Zhou, Haoxiao Wang, Jiyao Zhang, Hao Dong IEEE Robotics and Automation Letters (RAL) 2024 [Paper] [Webpage]
SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation Qianxu Wang, Haotong Zhang, Congyue Deng, Yang You, Hao Dong, Yixin Zhu, Leonidas Guibas International Conference on Learning Representations (ICLR) 2024 [Paper] [Webpage] [Code]
PerSAM: Personalize Segment Anything Model with One Shot Renrui Zhang, Zhengkai Jiang, Ziyu Guo, Shilin Yan, Junting Pan, Hao Dong, Peng Gao, Hongsheng Li International Conference on Learning Representations (ICLR) 2024 [Paper] [Webpage] [Code] [AIWalker]
Scalable Geometric Fracture Assembly via Co-creation Space among Assemblers Ruiyuan Zhang, Jiaxiang Liu, Zexi Li, Hao Dong, Jie Fu, Chao Wu AAAI Conference on Artificial Intelligence 2024 [Paper] [Code]
Referred by Multi-Modality: A Unified Temporal Transformer for Video Object Segmentation Shilin Yan, Renrui Zhang, Ziyu Guo, Wenchao Chen, Wei Zhang, Hongyang Li, Yu Qiao, Hao Dong, Zhongjiang He, Peng Gao AAAI Conference on Artificial Intelligence 2024 [Paper] [Code]
Bi-DexHands: Towards Human-Level Bimanual Dexterous Manipulation --- The world's first bimanual dexterous manipulation benchmark (in simulation) Yuanpei Chen, Yiran Geng, Fangwei Zhong, Jiaming Ji, Jiechuang Jiang, Zongqing Lu, Hao Dong, Yaodong Yang IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI) 2023 [Paper] [Webpage] [Code]
Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model Siyuan Huang, Zhengkai Jiang, Hao Dong, Yu Qiao, Peng Gao, Hongsheng Li arXiv 2023 [Paper] [Code] [机器人3D感知] [CSDN]
Mixup-Augmented Meta-Learning for Sample-Efficient Fine-Tuning of Protein Simulators Jingbang Chen, Yian Wang, Xingwei Qu, Shuangjia Zheng, Yaodong Yang, Hao Dong, Jie Fu arXiv 2023 [Paper] [Code]
Posterior Instance Injection Detector for Arbitrary-Oriented Object Detection From Optical Remote-Sensing Imagery Tong Zhang, Yin Zhuang, He Chen, Guanqun Wang, Lihui Ge, Liang Chen, Hao Dong, Lianlin Li Remote Sensing 2023 [Paper]
Plan4MC: Skill Reinforcement Learning and Planning for Open-World Minecraft Tasks Haoqi Yuan, Chi Zhang, Hongcheng Wang, Feiyang Xie, Penglin Cai, Hao Dong, Zongqing Lu Neural Information Processing Systems (NeurIPS) FMDM Workshop 2023 [Paper] [Webpage] [Code] [机器之心]
Find What You Want: Learning Demand-conditioned Object Attribute Space for Demand-driven Navigation ---The world's first human demand-driven navigation model Hongcheng Wang, Andy Guan Hong Chen, Xiaoqi Li, Mingdong Wu, Hao Dong Neural Information Processing Systems (NeurIPS) 2023 [Paper] [Webpage] [Video] [Code] [BAAI]
GenPose: Generative Category-level Object Pose Estimation via Diffusion Models --- The next-generation category-level 6D object pose paradigm: generative pose estimation Jiyao Zhang, Mingdong Wu, Hao Dong Neural Information Processing Systems (NeurIPS) 2023 [Paper] [Webpage] [Code] [北大]
Learning Environment-aware Affordance for 3D Articulated Object Manipulation under Occlusions --- The world's first work of affordance learning with environment constraints Ruihai Wu, Kai Cheng, Yan Zhao, Chuanruo Ning, Guanqi Zhan, Hao Dong Neural Information Processing Systems (NeurIPS) 2023 [Paper] [Webpage] [Code] [AIR学术] [AIR论坛]
GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping Tianhao Wu, Mingdong Wu, Jiyao Zhang, Yunchong Gan, Hao Dong Neural Information Processing Systems (NeurIPS) 2023 [Paper] [Webpage] [Code] [新智元]
Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objects --- The world's first work of few-shot exploration for object manipulation with novel geometries Chuanruo Ning, Ruihai Wu, Haoran Lu, Kaichun Mo, Hao Dong Neural Information Processing Systems (NeurIPS) 2023 [Paper] [Webpage] [Code]
Learning Gradient Fields for Scalable and Generalizable Irregular Packing Tianyang Xue, Mingdong Wu, Lin Lu, Haoxuan Wang, Hao Dong, Baoquan Chen SIGGRAPH Asia 2023 [Paper] [Webpage]
Learning Part Motion of Articulated Objects Using Spatially Continuous Neural Implicit Representations Yushi Du, Ruihai Wu, Yan Shen, Hao Dong British Machine Vision Conference (BMVC) 2023 [Paper] [Webpage] [Code]
Score-PA: Score-based 3D Part Assembly Junfeng Cheng, Mingdong Wu, Ruiyuan Zhang, Guanqi Zhan, Chao Wu, Hao Dong British Machine Vision Conference (BMVC) 2023 (Oral) [Paper] [Code]
MARLlib: A Scalable and Efficient Multi-agent Reinforcement Learning Library Siyi Hu, Yifan Zhong, Minquan Gao, Weixun Wang, Hao Dong, Xiaodan Liang, Zhihui Li, Xiaojun Chang, Yaodong Yang Journal of Machine Learning Research 2023 [Paper] [Documentation] [Code]
DefoAfford: Learning Foresightful Dense Visual Affordance for Deformable Object Manipulation Ruihai Wu, Chuanruo Ning, Hao Dong International Conference on Computer Vision (ICCV) 2023 [Paper] [Webpage] [Code] [将门创投] [AIR学术] [AIR论坛]
Leveraging SE(3) Equivariance for Learning 3D Geometric Shape Assembly Ruihai Wu, Chenrui Tie, Yushi Du, Yan Zhao, Hao Dong International Conference on Computer Vision (ICCV) 2023 [Paper] [Webpage] [Code]
Learning a Universal Human Prior for Dexterous Manipulation from Human Preference Zihan Ding, Yuanpei Chen, Allen Z. Ren, Shixiang Shane Gu, Hao Dong, Chi Jin RSS Workshop on Learning Dexterous Manipulation 2023 [Paper]
Learning Semantic-Agnostic and Spatial-Aware Representation for Generalizable Visual-Audio Navigation Hongcheng Wang, Yuxuan Wang, Fangwei Zhong, Mingdong Wu, Jianwei Zhang, Yizhou Wang, Hao Dong IEEE Robotics and Automation Letters (RAL) 2023 [Paper] [Webpage] [Code] [CFCS]
SGTAPose: Robot Structure Prior Guided Temporal Attention for Camera-to-Robot Pose Estimation from Image Sequence Yang Tian, Jiyao Zhang, Zekai Yin, Hao Dong Conference on Computer Vision and Pattern Recognition (CVPR) 2023 [Paper] [Webpage] [Code]
GFPose: Learning Gradient Field for Multi-Hypothesis 3D Human Pose Estimation Hai Ci, Mingdong Wu, Wentao Zhu, Xiaoxuan Ma, Hao Dong, Fangwei Zhong, Yizhou Wang Conference on Computer Vision and Pattern Recognition (CVPR) 2023 [Paper] [Webpage] [Code] [CFCS]
PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations Haoran Geng, Ziming Li, Yiran Geng, Jiayi Chen, Hao Dong, He Wang Conference on Computer Vision and Pattern Recognition (CVPR) 2023 [Paper] [Webpage] [Code]
ReBNN: Resilient Binary Neural Network Sheng Xu, Yanjing Li, Teli Ma, Mingbao Lin, Hao Dong, Baochang Zhang, Peng Gao, Jinhu Lu AAAI Conference on Artificial Intelligence 2023 (Oral) [Paper] [Code]
RLAfford: End-to-End Affordance Learning for Robotic Manipulation Yiran Geng, Boshi An, Haoran Geng, Yuanpei Chen, Yaodong Yang, Hao Dong International Conference on Robotics and Automation (ICRA) 2023 [Paper] [Webpage] [Code] [CFCS] [AIR学术] [AIR论坛]
DualAfford: Learning Collaborative Visual Affordance for Dual-gripper Object Manipulation Yan Zhao, Ruihai Wu, Zhehuan Chen, Yourong Zhang, Qingnan Fan, Kaichun Mo, Hao Dong International Conference on Learning Representations (ICLR) 2023 [Paper] [Webpage] [Code] [AIR学术] [AIR论坛]
Object-Centric Masked Image Modeling-Based Self-Supervised Pretraining for Remote Sensing Object Detection Tong Zhang, Yin Zhuang, He Chen, Liang Chen, Guanqun Wang, Peng Gao, Hao Dong IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing 2023 [Paper]
P2FEViT: Plug-and-Play CNN Feature Embedded Hybrid Vision Transformer for Remote Sensing Image Classification Guanqun Wang, He Chen, Liang Chen, Yin Zhuang, Shanghang Zhang, Tong Zhang, Hao Dong, Peng Gao Remote Sensing 2023 [Paper] [Code]
Intelligent Indoor Metasurface Robotics --- Journal cover: a new robot concept of robot percepton and privacy Hanting Zhao, Shengguo Hu, Hongrui Zhang, Zhuo Wang, Hao Dong, Philipp del Hougne, Tie Jun Cui, Lianlin Li National Science Review (NSR) 2022 [Paper] [Journal Cover] [中国科学杂志社]
MyoChallenge 2022: Learning Contact-rich Manipulation using a Musculoskeletal Hand --- First Place in NeurIPS 2022 Challenge Track (1st in 340 submissions from 40 teams) Vittorio Caggiano, Guillaume Durandau, Huwawei Wang, Alberto Chiappa, Alexander Mathis, Pablo Tano, Nisheet Patel, Alexandre Pouget, Pierre Schumacher, Georg Martius, Daniel Haeufle, Yiran Geng, Boshi An, Yifan Zhong, Jiaming Ji, Yuanpei Chen, Hao Dong, Yaodong Yang, Rahul Siripurapu, Luis Eduardo Ferro Diez, Michael Kopp, Vihang Patil, Sepp Hochreiter, Yuval Tassa, Josh Merel, Randy Schultheis, Seungmoon Song, Massimo Sartori, Vikash Kumar Proceedings of the NeurIPS 2022 Competitions Track, Proceedings of Machine Learning Research [Paper] [Challenge Page] [Code] [[Award](images/award/2022 MyoChallenge NeurIPS.pdf)] [Slide] [Talk] [Media(BIGAI)] [Media(CFCS)] [Media(PKU-EECS)] [Media(IAI)] [Media(PKU)] [Media(China Youth Daily)]
Heterogeneous-Agent Mirror Learning: A Continuum of Solutions to Cooperative MARL Jakub Grudzien Kuba, Xidong Feng, Shiyao Ding, Hao Dong, Jun Wang, Yaodong Yang arXiv 2022 [Paper] [Code]
GraspARL: Dynamic Grasping via Adversarial Reinforcement LearningTianhao Wu, Fangwei Zhong, Yiran Geng, Hongchen Wang, Yongjian Zhu, Yizhou Wang, Hao Dong_arXiv 2022_[Paper]
RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation EnvironmentMingxin Yu*, Lin Shao*, Zhehuan Chen, Tianhao Wu, Qingnan Fan, Kaichun Mo, Hao Dong_arXiv 2022_[Paper] [Webpage]
TarGF: Learning Target Gradient Field to Rearrange Objects without Explicit Goal Specification Mingdong Wu, Fangwei Zhong, Yulong Xia, Hao Dong Neural Information Processing Systems (NeurIPS) 2022 [Paper] [Webpage] [Code]
Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning Yuanpei Chen, Tianhao Wu, Shengjie Wang, Xidong Feng, Jiechuang Jiang, Stephen Marcus McAleer, Hao Dong, Zongqing Lu, Song-Chun Zhu, Yaodong Yang Neural Information Processing Systems (NeurIPS) Datasets and Benchmarks 2022 [Paper] [Webpage] [Code]
AdaAfford: Learning to Adapt Manipulation Affordance for 3D Articulated Objects via Few-shot Interactions --- The world's first work of active exploration for object manipulation with invisible dynamics and kinematics Yian Wang*, Ruihai Wu*, Kaichun Mo*, Jiaqi Ke, Qingnan Fan, Leonidas Guibas, Hao Dong _European Conference on Computer Vision (ECCV) 2022_[Paper] [Webpage] [Code] [CFCS] [AIR学术] [AIR论坛]
DREDS: 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 European Conference on Computer Vision (ECCV) 2022 [Paper] [Webpage] [Code]
Scalable Model-based Policy Optimization for Decentralized Networked SystemsYali Du, Chengdong Ma, Yuchen Liu, Runji Lin, Hao Dong, Jun Wang, Yaodong Yang_International Conference on Intelligent Robots and Systems (IROS) 2022_ [Paper] [Code]
VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D Articulated ObjectsRuihai Wu, Yan Zhao, Kaichun Mo, Zizheng Guo, Yian Wang, Tianhao Wu, Qingnan Fan, Xuelin Chen, Leonidas Guibas, Hao Dong_International Conference on Learning Representations (ICLR) 2022_[Paper] [Code] [Webpage] [Youtube] [Bilibili] [CFCS] [AIR学术] [AIR论坛]
Consecutive Pre-Training: A Knowledge Transfer Learning Strategy with Relevant Unlabeled Data for Remote Sensing Domain Tong Zhang, Peng Gao, Hao Dong, Yin Zhuang, Guanqun Wang, Wei Zhang, He Chen Remote Sensing 2022 [Paper] [Code]
Hierarchical Disentangling Network for Building Extraction from Very High Resolution Optical Remote Sensing Imagery Jianhao Li, Yin Zhuang, Shan Dong, Peng Gao, Hao Dong, He Chen, Liang Chen, Lianlin Li Remote Sensing 2022 [Paper] [Code]
Adaptive Local Context Embedding for Small Vehicle Detection from Aerial Optical Remote Sensing Images Shanjunyu Liu, Yin Zhuang, Hao Dong, Peng Gao, Guanqun Wang, Tong Zhang, Liang Chen, He Chen, Lianlin Li IEEE International Geoscience and Remote Sensing Symposium (IGRASS) 2022 [Paper]
DMotion: Robotic Visuomotor Control with Unsupervised Forward Model Learned from Videos ---The first attempt to learn the forward model unsupervisedly via motion disentanglement Haoqi Yuan, Ruihai Wu, Andrew Zhao, Haipeng Zhang, Zihan Ding, Hao Dong_International Conference on Intelligent Robots and Systems (IROS) 2021_[Paper] [Webpage] [Code] [CFCS]
End-to-End Object Detection with Adaptive Clustering TransformerMinghang Zheng, Peng Gao, Xiaogang Wang, Hongsheng Li, Hao Dong_British Machine Vision Conference (BMVC) 2021 (Oral)_[Paper] [Code] [集智书童]
Contrastive Multimodal Fusion with TupleInfoNCEYunze Liu, Qingnan Fan, Shanghang Zhang, Hao Dong, Thomas Funkhouser, Li Yi_International Conference on Computer Vision (ICCV) 2021_ [Paper] [Code] [Code]
P4Contrast: Contrastive Learning with Pairs of Point-Pixel Pairs for RGB-D Scene UnderstandingYunze Liu, Li Yi, Shanghang Zhang, Qingnan Fan, Thomas Funkhouser, Hao Dong_arXiv 2012.13089_[Paper] [Code]
Fast and Flexible Human Pose Estimation with HyperPoseYixiao Guo*, Jialei Liu*, Guo Li*, Luo Mai, Hao Dong_ACM Multimedia (MM) Open Source 2021_[Paper] [Code]
Efficient Reinforcement Learning Development with RLzooZihan Ding, Tianyang Yu, Yanhua Huang, Hongming Zhang, Luo Mai, Hao Dong_ACM Multimedia (MM) Open Source 2021_[Paper] [Code] [机器之心]
Edge-Enhanced Dual Discriminator Generative Adversarial Network for Fast MRI with Parallel Imaging Using Multi-view InformationJiahao Huang, Weiping Ding, Jun Lv, Jingwen Yang, Hao Dong, Javier Del Ser, Jun Xia, Tiaojuan Ren, Stephen Wong, Guang Yang_Applied Intelligence 2021_[Paper]
Generative 3D Part Assembly via Dynamic Graph Learning ---The world's first 3D part assemble model without external guidance Jialei Huang*, Guanqi Zhan*, Qingnan Fan, Kaichun Mo, Lin Shao, Baoquan Chen, Leonidas Guibas, Hao Dong_Neural Information Processing Systems (NeurIPS) 2020_[Paper] [Code] [Webpage] ( [机器之心]/ [AI科技评论] )
ACL-GAN: Unpaired Image-to-Image Translation using Adversarial Consistency LossYihao Zhao, Ruihai Wu, Hao Dong_European Conference on Computer Vision (ECCV) 2020_[Paper] [Code] [Webpage] [CFCS]
Lyapunov-Based Reinforcement Learning for Decentralized Multi-Agent ControlQingrui Zhang, Hao Dong and Wei Pan_International Conference on Distributed Artificial Intelligence (DAI) 2020 (Oral)_[Paper]
Role-Wise Data Augmentation for Knowledge DistillationJie Fu, Xue Geng, Zhijian Duan, Bohan Zhuang, Xingdi Yuan, Adam Trischler, Jie Lin, Chris Pal, Hao Dong_arXiv-2004.08861 2020_[Paper] [Code]
DLGAN: Disentangling Label-Specific Fine-Grained Features for Image ManipulationGuanqi Zhan, Yihao Zhao, Bingchan Zhao, Haoqi Yuan, Baoquan Chen, Hao Dong_arXiv:1911.09943 2019_[Paper]
An Artificial Intelligence Based Data-driven Approach for Design IdeationLiuqing Chen, Pan Wang, Hao Dong, Feng Shi, Ji Han, Yike Guo, Peter RN Childs, Jun Xiao, Chao Wu_Journal of Visual Communication and Image Representation 2019_[Paper]
SIMGAN: Photo-Realistic Semantic Image Manipulation Using Generative Adversarial NetworksSimiao Yu, Hao Dong, Felix Liang, Yuanhan Mo, Chao Wu, Yike Guo _International Conference on Image Processing (ICIP) 2019 (Oral)_[Paper]
Conditional Image Synthesis Using Stacked Auxiliary Classifier Generative Adversarial NetworksZhongwei Yao, Hao Dong, Pan Wang, Chao Wu, Yike Guo_Future of Information and Communications Conference (FICC) 2018_[Paper]
Generative Creativity: Adversarial Learning for Bionic DesignSimiao Yu, Hao Dong, Pan Wang, Chao Wu, Yike Guo_International Conference on Artificial Neural Networks (ICANN) Munich, Germany, 2019_[Paper]
Text-to-Image Synthesis via Visual-Memory Creative Adversarial NetworkShengyu Zhang, Hao Dong, Wei Hu, Yike Guo, Chao Wu, Di Xie, Fei Wu_Pacific Rim Conference on Multimedia (PCM) 2018_[Paper]
Dropping Activation Outputs with Localized First-layer Deep Network for Enhancing User Privacy and Data SecurityHao Dong, Chao Wu, Wei Zhen, Yike Guo_IEEE Trans. on Inform. Forensics and Security (TIFS) 2018_[Paper]
Towards Desynchronisation Detection in BiosignalsAkara Supratak, Steffen Schneider, Hao Dong, Ling Li, Yike Guo_Neural Inform. Process. Systems (NeurIPS) Time Series Workshop 2017_[Paper] [Webpage]
SisGAN: Semantic Image Synthesis via Adversarial Learning --- The world's first work for manipulating image using natural language (text-guided image manipulation) Hao Dong*, Simiao Yu*, Chao Wu, Yike Guo_International Conference on Computer Vision (ICCV) 2017_[Paper]
TensorLayer: A Versatile Library for Efficient Deep Learning Development --- Winner of the Best Open Source Software Award Hao Dong, Akara Supratak, Luo Mai, Fangde Liu, Axel Oehmichen, Simiao Yu, Yike Guo_ACM Multimedia (MM) Open Source 2017_[Paper] [Code] [Organisation] [Documentation]
DAGAN: Deep De-Aliasing Generative Adversarial Networks for Fast Compressed Sensing MRI ReconstructionGuang Yang*, Simiao Yu*, Hao Dong, Greg Slabaugh, Pier Luigi Dragotti, Xujiong Ye, Fangde Liu, Simon Arridge, Jennifer Keegan, Yike Guo, David Firmin_IEEE Trans. Med. Imag. (TMI) 2017_[Paper] [Code]
Deep De-Aliasing for Fast Compressive Sensing MRI Simiao Yu*, Hao Dong*, Guang Yang, Greg Slabaugh, Pier Luigi Dragotti, Xujiong Ye, Fangde Liu, Simon Arridge, Jennifer Keegan, David Firmin, Yike Guo_arXiv:1705.07137 2017_[Paper]
I2T2I: Learning Text to Image Synthesis with Textual Data Augmentation Hao Dong, Jingqing Zhang, Douglas McIlwraith, Yike Guo _International Conference on Image Processing (ICIP) 2017 (Oral)_[Paper] [Code]
Unsupervised Image-to-Image Translation with Generative Adversarial NetworksHao Dong, Paarth Neekhara, Chao Wu, Yike Guo _arXiv:1701.02676 2017_[Paper] [Code]
DeepSleepNet: a Model for Automatic Sleep Stage Scoring based on Raw Single-Channel EEG Akara Supratak, Hao Dong, Chao Wu, Yike Guo _IEEE Trans. on Neural Systems and Rehabilitation Eng. (TNSRE) 2017_[Paper] [Code]
Mixed Neural Network Approach for Temporal Sleep Stage ClassificationHao Dong, Akara Supratak, Wei Pan, Chao Wu, Paul M Matthews, Yike Guo_IEEE Trans. on Neural Systems and Rehabilitation Eng. (TNSRE) 2017_[Paper]
Automatic Brain Tumor Detection and Segmentation Using U-Net Based Fully Convolutional Networks Hao Dong, Guang Yang, Fangde Liu, Yuanhan Mo, Yike Guo _Medical Image Understanding and Analysis (MIUA) 2017 (Oral)_[Paper]
TensorDB: Database Infrastructure for Continuous Machine Learning Fangde Liu, Axel Oehmichen, Jingqing Zhang, Kai Sun, Hao Dong, Yuanman Mo, Yike Guo _International Conference Artificial Intelligence (ICAI) 2017_[Paper]
DropNeuron: Simplifying the Structure of Deep Neural Networks Wei Pan, Hao Dong, Yike Guo _arXiv:1606.07326 2016_[Paper] [Code]