Xiaolong Wang

Assistant 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

Selected Papers


Minghuan Liu, Zixuan Chen, Xuxin Cheng, Yandong Ji, Ruihan Yang, Xiaolong Wang.
Visual Whole-Body Control for Legged Loco-Manipulation.
arXiv, 2024.

[arXiv] [project page]

Ri-Zhao Qiu, Yafei Hu, Ge Yang, Yuchen Song, Yang Fu, Jianglong Ye, Jiteng Mu, Ruihan Yang, Nikolay Atanasov, Sebastian Scherer, Xiaolong Wang.
Learning Generalizable Feature Fields for Mobile Manipulation.
arXiv, 2024.

[arXiv] [project page]

Xuxin Cheng*, Yandong Ji*, Junming Chen, Ruihan Yang, Ge Yang, Xiaolong Wang.
Expressive Whole-Body Control for Humanoid Robots.
arXiv, 2024.

[arXiv] [project page]

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]

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]

Yang Fu, Sifei Liu, Amey Kulkarni, Jan Kautz, Alexei A. Efros, Xiaolong Wang.
COLMAP-Free 3D Gaussian Splatting.
Conference on Computer Vision and Pattern Recognition (CVPR), 2024.

[arXiv] [project page]

Jiarui Xu, Xingyi Zhou, Shen Yan, Xiuye Gu, Anurag Arnab, Chen Sun, Xiaolong Wang, Cordelia Schmid.
Pixel Aligned Language Models.
Conference on Computer Vision and Pattern Recognition (CVPR), 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]

Yang Fu, Shalini De Mello, Xueting Li, Amey Kulkarni, Jan Kautz, Xiaolong Wang, Sifei Liu.
3D Reconstruction with Generalizable Neural Fields using Scene Priors.
International Conference on Learning Representations (ICLR), 2024.

[arXiv] [project page]

An-Chieh Cheng, Xueting Li, Sifei Liu†, Xiaolong Wang†.
TUVF: Learning Generalizable Texture UV Radiance Fields.
International Conference on Learning Representations (ICLR), 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]

Nicklas Hansen, Hao Su*, Xiaolong Wang*.
TD-MPC2: Scalable, Robust World Models for Continuous Control.
International Conference on Learning Representations (ICLR), 2024.
Spotlight

[arXiv] [project page] [code] [models] [dataset]

Lirui Wang, Yiyang Ling*, Zhecheng Yuan*, Mohit Shridhar, Chen Bao, Yuzhe Qin, Bailin Wang, Huazhe Xu, Xiaolong Wang.
GenSim: Generating Robotic Simulation Tasks via Large Language Models.
International Conference on Learning Representations (ICLR), 2024.
Spotlight
Workshop on Language Grounding and Robot Learning, CoRL 2023
Workshop Best Paper Award

[arXiv] [project page] [code] [demo]

Ruihan Yang*, Zhuoqun Chen*, Jianhan Ma*, Chongyi Zheng*, Yiyu Chen, Quan Nguyen, Xiaolong Wang.
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior.
arXiv, 2023.
Workshop on Towards Reliable and Deployable Learning-Based Robotic Systems, CoRL 2023
Workshop Best Paper Award

[arXiv] [project page]

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]

Yanjie Ze*, Ge Yan*, Yueh-Hua Wu*, Annabella Macaluso, Yuying Ge, Jianglong Ye, Nicklas Hansen, Li Erran Li, Xiaolong Wang.
GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields.
Conference on Robot Learning (CoRL), 2023.
Oral Presentation

[arXiv] [project page] [code]

Yunhai Feng*, Nicklas Hansen*, Ziyan Xiong*, Chandramouli Rajagopalan, Xiaolong Wang.
Finetuning Offline World Models in the Real World.
Conference on Robot Learning (CoRL), 2023.
Oral Presentation

[arXiv] [project page] [code]

Yueh-Hua Wu, Xiaolong Wang*, Masashi Hamaya*.
Elastic Decision Transformer.
Conference on Neural Information Processing Systems (NeurIPS), 2023.

[arXiv] [project page] [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.

[pdf] [project page]

Jianglong Ye, Naiyan Wang, Xiaolong Wang.
FeatureNeRF: Learning Generalizable NeRFs by Distilling Foundation Models.
International Conference on Computer Vision (ICCV), 2023.

[arXiv] [project page]

Yang Fu, Ishan Misra, Xiaolong Wang.
MonoNeRF: Learning Generalizable NeRFs from Monocular Videos without Camera Poses.
International Conference on Machine Learning (ICML), 2023.

[arXiv] [project page]

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]

Ruihan Yang, Ge Yang, Xiaolong Wang.
Neural Volumetric Memory for Visual Locomotion Control.
Conference on Computer Vision and Pattern Recognition (CVPR), 2023.
Highlight

[arXiv] [project page] [video]

Jiarui Xu, Sifei Liu*, Arash Vahdat*, Wonmin Byeon, Xiaolong Wang, Shalini De Mello.
Open-Vocabulary Panoptic Segmentation with Text-to-Image Diffusion Models.
Conference on Computer Vision and Pattern Recognition (CVPR), 2023.
Highlight

[arXiv] [project page] [video] [demo] [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]

Sateesh Kumar, Jonathan Zamora*, Nicklas Hansen*, Rishabh Jangir, Xiaolong Wang.
Graph Inverse Reinforcement Learning from Diverse Videos.
Conference on Robot Learning (CoRL), 2022.
Oral Presentation

[arXiv] [project page] [video] [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] [Wild6D 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]

Nicklas Hansen, Xiaolong Wang*, Hao Su*.
Temporal Difference Learning for Model Predictive Control.
International Conference on Machine Learning (ICML), 2022.

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

Xuanchi Ren, Xiaolong Wang.
Look Outside the Room: Synthesizing A Consistent Long-Term 3D Scene Video from A Single Image.
Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

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

Jiarui Xu, Shalini De Mello, Sifei Liu, Wonmin Byeon, Thomas Breuel, Jan Kautz, Xiaolong Wang.
GroupViT: Semantic Segmentation Emerges from Text Supervision.
Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

[arXiv] [project page] [video] [code] [huggingface colab] [huggingface demo]

Ruihan Yang*, Minghao Zhang*, Nicklas Hansen, Huazhe Xu, Xiaolong Wang.
Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers.
International Conference on Learning Representations (ICLR), 2022.
Spotlight Presentation

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

Zihang Lai, Sifei Liu, Alexei A. Efros, Xiaolong Wang.
Video Autoencoder: self-supervised disentanglement of static 3D structure and motion.
International Conference on Computer Vision (ICCV), 2021.
Oral Presentation

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

Jiarui Xu, Xiaolong Wang.
Rethinking Self-supervised Correspondence Learning: A Video Frame-level Similarity Perspective.
International Conference on Computer Vision (ICCV), 2021.
Oral Presentation

[arXiv] [project page] [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]

Jiteng Mu, Weichao Qiu, Adam Kortylewski, Alan Yuille, Nuno Vasconcelos, Xiaolong Wang.
A-SDF: Learning Disentangled Signed Distance Functions for Articulated Shape Representation.
International Conference on Computer Vision (ICCV), 2021.

[arXiv] [project page] [code]

Yinbo Chen, Sifei Liu, Xiaolong Wang.
Learning Continuous Image Representation with Local Implicit Image Function.
Conference on Computer Vision and Pattern Recognition (CVPR), 2021.
Oral Presentation

[arXiv] [project page] [code]

Qiang Zhang, Tete Xiao, Alexei A. Efros, Lerrel Pinto, Xiaolong Wang.
Learning Cross-domain Correspondence for Control with Dynamics Cycle-consistency.
International Conference on Learning Representations (ICLR), 2021.
Oral Presentation

[arXiv] [project page] [code]

Nicklas Hansen, Rishabh Jangir, Yu Sun, Guillem Alenyà, Pieter Abbeel, Alexei A. Efros, Lerrel Pinto, Xiaolong Wang.
Self-Supervised Policy Adaptation during Deployment.
International Conference on Learning Representations (ICLR), 2021.
Spotlight Presentation

[arXiv] [project page] [code] [bair blog post]

Yu Sun, Xiaolong Wang, Zhuang Liu, John Miller, Alexei A. Efros, Moritz Hardt.
Test-Time Training with Self-Supervision for Generalization under Distribution Shifts.
International Conference on Machine Learning (ICML), 2020.

[arXiv] [code and project page] [BibTeX]

Xiaolong Wang*, Allan Jabri* and Alexei A. Efros.
Learning Correspondence from the Cycle-consistency of Time.
Conference on Computer Vision and Pattern Recognition (CVPR), 2019.
Oral Presentation

[project page] [slides] [result video] [oral talk]
[arXiv] [BibTeX] [code]

Xiaolong Wang, Ross Girshick, Abhinav Gupta, and Kaiming He.
Non-local Neural Networks.
Conference on Computer Vision and Pattern Recognition (CVPR), 2018.

[arXiv] [BibTeX] [code]

Xiaolong Wang*, Rohit Girdhar*, and Abhinav Gupta.
Binge Watching: Scaling Affordance Learning from Sitcoms.
Conference on Computer Vision and Pattern Recognition (CVPR), 2017.
Spotlight Presentation

[pdf] [BibTeX] [dataset] [project page] [spotlight video]

Xiaolong Wang and Abhinav Gupta.
Unsupervised Learning of Visual Representations using Videos.
International Conference on Computer Vision (ICCV), 2015

[pdf] [BibTeX] [code] [model] [mined_patches] [project page] [spotlight video]