Xiaolong Wang

Associate Professor, UC San Diego [GitHub] [Google Scholar] [CV]
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Select All Publication by Year Self-Supervised Learning Video Understanding Common Sense Reasoning RL and Robotics 3D Interaction Dexterous Hand

Robotics


Jianglong Ye* , Keyi Wang*, Chengjing Yuan, Ruihan Yang, Yiquan Li, Jiyue Zhu, Yuzhe Qin, Xueyan Zou, and Xiaolong Wang.
Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation.
Robotics: Science and Systems (RSS), 2025.

[arXiv] [project page]

Ri-Zhao Qiu*, Shiqi Yang*, Xuxin Cheng*, Chaitanya Chawla, Jialong Li, Tairan He, Ge Yan, David J. Yoon, Ryan Hoque, Lars Paulsen, Ge Yang, Jian Zhang, Sha Yi, Guanya Shi, Xiaolong Wang.
Humanoid Policy ~ Human Policy.
arXiv, 2025.

[arXiv] [project page] [code] [data]

Chenhao Lu*, Xuxin Cheng*, Jialong Li*, Shiqi Yang, Mazeyu Ji, Chengjing Yuan, Ge Yang, Sha Yi, Xiaolong Wang.
Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control.
International Conference on Robotics and Automation (ICRA), 2025.

[arXiv] [project page] [code]

Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, Xiaolong Wang.
ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation.
Conference on Robot Learning (CoRL), 2024.

[arXiv] [project page] [code] [hardware design]

Jun Wang*, Ying Yuan*, Haichuan Che*, Haozhi Qi*, Yi Ma, Jitendra Malik, Xiaolong Wang.
Lessons from Learning to Spin “Pens”.
Conference on Robot Learning (CoRL), 2024.

[arXiv] [project page] [code]

Xuxin Cheng*, Jialong Li*, Shiqi Yang, Ge Yang, Xiaolong Wang.
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback.
Conference on Robot Learning (CoRL), 2024.

[arXiv] [project page] [code] [hardware] [dataset]

Runyu Ding*, Yuzhe Qin*, Jiyue Zhu*, Chengzhe Jia, Shiqi Yang, Ruihan Yang, Xiaojuan Qi, Xiaolong Wang.
Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning.
arXiv, 2024.

[arXiv] [project page] [code] [Hand URDFs]

Kang-Won Lee, Yuzhe Qin, Xiaolong Wang, Soo-Chul Lim.
DexTouch: Learning to Seek and Manipulate Objects with Tactile Dexterity.
Robotics and Automation Letters (RA-L), 2024.

[arXiv] [project page]

Jun Wang*, Yuzhe Qin*, Kaiming Kuang, Yigit Korkmaz, Akhilan Gurumoorthy, Hao Su, Xiaolong Wang.
CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation.
Conference on Computer Vision and Pattern Recognition (CVPR), 2024.

[arXiv] [project page]

Ying Yuan*, Haichuan Che*, Yuzhe Qin*, Binghao Huang, Zhao-Heng Yin, Kang-Won Lee, Yi Wu, Soo-Chul Lim, Xiaolong Wang.
Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing.
International Conference on Robotics and Automation (ICRA), 2024.

[arXiv] [project page] [code]

Binghao Huang*, Yuanpei Chen*, Tianyu Wang, Yuzhe Qin, Yaodong Yang, Nikolay Atanasov, Xiaolong Wang.
Dynamic Handover: Throw and Catch with Bimanual Hands .
Conference on Robot Learning (CoRL), 2023.

[arXiv] [project page] [code]

Zhao-Heng Yin*, Binghao Huang*, Yuzhe Qin, Qifeng Chen, Xiaolong Wang.
Rotating without Seeing: Towards In-hand Dexterity through Touch.
Robotics: Science and Systems (RSS), 2023.

[arXiv] [project page] [video] [code]

Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox.
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System.
Robotics: Science and Systems (RSS), 2023.

[arxiv] [project] [retargeting code] [visualizer code]

Chen Bao, Helin Xu, Yuzhe Qin, Xiaolong Wang.
DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects.
Conference on Computer Vision and Pattern Recognition (CVPR), 2023.

[arXiv] [project page] [code]

Jianglong Ye*, Jiashun Wang*, Binghao Huang, Yuzhe Qin, Xiaolong Wang.
Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations.
Robotics and Automation Letters (RA-L), 2023.
International Conference on Intelligent Robots and Systems (IROS), 2023.

[arXiv] [project page] [video] [code]

Yuzhe Qin*, Binghao Huang*, Zhao-Heng Yin, Hao Su, Xiaolong Wang.
DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation.
Conference on Robot Learning (CoRL), 2022.

[arXiv] [project page] [video] [code]

Yueh-Hua Wu*, Jiashun Wang*, Xiaolong Wang.
Learning Generalizable Dexterous Manipulation from Human Grasp Affordance.
Conference on Robot Learning (CoRL), 2022.

[arXiv] [project page] [code]

Yuzhe Qin*, Yueh-Hua Wu*, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, Xiaolong Wang.
DexMV: Imitation Learning for Dexterous Manipulation from Human Videos.
European Conference on Computer Vision (ECCV), 2022.

[arXiv] [project page] [video] [code]

Yuzhe Qin, Hao Su*, Xiaolong Wang*.
From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation.
Robotics and Automation Letters (RA-L), 2022.
International Conference on Intelligent Robots and Systems (IROS), 2022.

[arXiv] [project page] [video] [code]

Ilija Radosavovic, Xiaolong Wang, Lerrel Pinto, Jitendra Malik.
State-Only Imitation Learning for Dexterous Manipulation.
International Conference on Intelligent Robots and Systems (IROS), 2021.

[arXiv] [project page] [Talk]

Computer Vision


Mengqi Zhang*, Yang Fu*, Zheng Ding, Sifei Liu, Zhuowen Tu, Xiaolong Wang.
HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Data.
Conference on Computer Vision and Pattern Recognition (CVPR), 2024.

[arXiv] [project page] [code]

Hongchi Xia*, Yang Fu*, Sifei Liu, Xiaolong Wang.
RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videos.
Conference on Computer Vision and Pattern Recognition (CVPR), 2024.

[arXiv] [project page] [dataset]

Zehao Zhu, Jiashun Wang, Yuzhe Qin, Deqing Sun, Varun Jampani, Xiaolong Wang.
ContactArt: Learning 3D Interaction Priors for Category-level Articulated Object and Hand Poses Estimation.
International Conference on 3D Vision (3DV), 2024.
Oral Presentation

[arXiv] [project page] [data explorer]

Kaifeng Zhang, Yang Fu, Shubhankar Borse, Hong Cai, Fatih Porikli, Xiaolong Wang.
Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wild.
International Conference on Learning Representations (ICLR), 2023.

[arXiv] [project page] [code]

Yang Fu, Xiaolong Wang.
Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Dataset.
Conference on Neural Information Processing Systems (NeurIPS), 2022.

[arXiv] [project page] [dataset]

Shaowei Liu, Subarna Tripathi, Somdeb Majumdar, Xiaolong Wang.
Joint Hand Motion and Interaction Hotspots Prediction from Egocentric Videos.
Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

[arXiv] [project page] [video] [dataset] [code]

Hanwen Jiang*, Shaowei Liu*, Jiashun Wang, Xiaolong Wang.
Hand-Object Contact Consistency Reasoning for Human Grasps Generation.
International Conference on Computer Vision (ICCV), 2021 (Oral Presentation).

[arXiv] [project page] [code]

Shaowei Liu*, Hanwen Jiang*, Jiarui Xu, Sifei Liu, Xiaolong Wang.
Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Time.
Conference on Computer Vision and Pattern Recognition (CVPR), 2021.

[arXiv] [project page] [code]

Joanna Materzynska, Tete Xiao, Roei Herzig, Huijuan Xu†, Xiaolong Wang†, Trevor Darrell†.
Something-Else: Compositional Action Recognition with Spatial-Temporal Interaction Networks.
Conference on Computer Vision and Pattern Recognition (CVPR), 2020.

[arXiv] [project page] [BibTeX] [dataset annotation]