publications

2024

1. 

   Intersection-free Robot Manipulation with Soft-Rigid Coupled Incremental Potential Contact

   Wenxin Du*, Siqiong Yao*, Xinlei Wang, Yuhang Xu, Wenqiang Xu, and Cewu Lu

   IEEE Robotics and Automation Letters, 2024

   Bib PDF Website

   @article{zema,
     title = {Intersection-free Robot Manipulation with Soft-Rigid Coupled Incremental Potential Contact},
     author = {Du*, Wenxin and Yao*, Siqiong and Wang, Xinlei and Xu, Yuhang and Xu, Wenqiang and Lu, Cewu},
     journal = {IEEE Robotics and Automation Letters},
     volume = {},
     number = {},
     pages = {},
     year = {2024},
     publisher = {IEEE},
   }

2. 

   Learning a Contact Potential Field for Modeling the Hand-Object Interaction

   Lixin Yang*, Xinyu Zhan*, Kailin Li, Wenqiang Xu, Jiefeng Li, and Cewu Lu

   IEEE Transactions on Pattern Analysis and Machine Intelligence, 2024

   Bib PDF Code

   @article{cpf_pami,
     title = {Learning a Contact Potential Field for Modeling the Hand-Object Interaction},
     author = {Yang*, Lixin and Zhan*, Xinyu and Li, Kailin and Xu, Wenqiang and Li, Jiefeng and Lu, Cewu},
     journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
     volume = {},
     number = {},
     pages = {},
     year = {2024},
     publisher = {IEEE},
   }

3. 

   MS-MANO: Enabling Hand Pose Tracking with Biomechanical Constraints

   Pengfei Xie*, Wenqiang Xu*, Tutian Tang, Zhenjun Yu, and Cewu Lu

   In CVPR IEEE Conference on Computer Vision and Pattern Recognition, 2024

   Bib PDF Website

   @inproceedings{msmano,
     title = {MS-MANO: Enabling Hand Pose Tracking with Biomechanical Constraints},
     author = {Xie*, Pengfei and Xu*, Wenqiang and Tang, Tutian and Yu, Zhenjun and Lu, Cewu},
     booktitle = {{CVPR} IEEE Conference on Computer Vision and Pattern Recognition},
     pages = {},
     year = {2024},
   }

4. 

   TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors

   Wenxin Du*, Wenqiang Xu*, Jieji Ren, Zhenjun Yu, and Cewu Lu

   IEEE Robotics and Automation Letters, 2024

   Bib PDF Website

   @article{tacipc,
     title = {TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors},
     author = {Du*, Wenxin and Xu*, Wenqiang and Ren, Jieji and Yu, Zhenjun and Lu, Cewu},
     journal = {IEEE Robotics and Automation Letters},
     volume = {},
     number = {},
     pages = {},
     year = {2024},
     publisher = {IEEE},
   }

5. 

   Differentiable Cloth Parameter Identification and State Estimation in Manipulation

   Dongzhe Zheng*, Siqiong Yao*, Wenqiang Xu, and Cewu Lu

   IEEE Robotics and Automation Letters, 2024

   Bib PDF Website

   @article{diffcp,
     title = {Differentiable Cloth Parameter Identification and State Estimation in Manipulation},
     author = {Zheng*, Dongzhe and Yao*, Siqiong and Xu, Wenqiang and Lu, Cewu},
     journal = {IEEE Robotics and Automation Letters},
     volume = {},
     number = {},
     pages = {},
     year = {2024},
     publisher = {IEEE},
   }

6. 

   RFTrans: Leveraging Refractive Flow of Transparent Objects for Surface Normal Estimation and Manipulation

   Tutian Tang*, Jiyu Liu*, Jieyi Zhang, Haoyuan Fu, Wenqiang Xu, and Cewu Lu

   IEEE Robotics and Automation Letters, 2024

   Bib Website

   @article{rftrans,
     title = {RFTrans: Leveraging Refractive Flow of Transparent Objects for Surface Normal Estimation and Manipulation},
     author = {Tang*, Tutian and Liu*, Jiyu and Zhang, Jieyi and Fu, Haoyuan and Xu, Wenqiang and Lu, Cewu},
     journal = {IEEE Robotics and Automation Letters},
     volume = {},
     number = {},
     pages = {},
     year = {2024},
     publisher = {IEEE},
   }

2023

1. in submission

   DiPGrasp: Parallel Local Searching for Efficient Differentiable Grasp Planning

   Wenqiang Xu*, Jieyi Zhang*, Tutian Tang, Zhenjun Yu, Yutong Li, and Cewu Lu

   2023

   Website
2. arxiv

   Differentiable Fluid Physics Parameter Identification Via Stirring

   Wenqiang Xu*, Dongzhe Zheng*, Yutong Li, Jieji Ren, and Cewu Lu

   2023

   Bib PDF Website

   @misc{diffstir,
     title = {Differentiable Fluid Physics Parameter Identification Via Stirring},
     author = {Xu*, Wenqiang and Zheng*, Dongzhe and Li, Yutong and Ren, Jieji and Lu, Cewu},
     year = {2023},
     eprint = {2311.05137},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
   }

3. 

   Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning

   Zhenjun Yu*, Wenqiang Xu*, Siqiong Yao, Jieji Ren, Tutian Tang, Yutong Li, Guoying Gu, and Cewu Lu

   In CoRL Conference on Robot Learning, 2023

   Bib PDF Website

   @inproceedings{tnt,
     title = {Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning},
     author = {Yu*, Zhenjun and Xu*, Wenqiang and Yao, Siqiong and Ren, Jieji and Tang, Tutian and Li, Yutong and Gu, Guoying and Lu, Cewu},
     booktitle = {{CoRL} Conference on Robot Learning},
     year = {2023},
   }

4. 

   UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding

   Han Xue*, Yutong Li*, Wenqiang Xu, Huanyu Li, Dongzhe Zheng, and Cewu Lu

   In CoRL Conference on Robot Learning, 2023

   Bib PDF Website

   @inproceedings{unifolding,
     title = {UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding},
     author = {Xue*, Han and Li*, Yutong and Xu, Wenqiang and Li, Huanyu and Zheng, Dongzhe and Lu, Cewu},
     booktitle = {{CoRL} Conference on Robot Learning},
     year = {2023},
   }

5. 

   ClothPose: A Real-World Benchmark for Visual Analysis of Garment Pose via An Indirect Recording Solution

   Wenqiang Xu*, Wenxin Du*, Han Xue, Yutong Li, Ruolin Ye, Yan-Feng Wang, and Cewu Lu

   In ICCV IEEE/CVF International Conference on Computer Vision, 2023 Oral

   Bib PDF Website

   @inproceedings{clothpose,
     title = {ClothPose: A Real-World Benchmark for Visual Analysis of Garment Pose via An Indirect Recording Solution},
     author = {Xu*, Wenqiang and Du*, Wenxin and Xue, Han and Li, Yutong and Ye, Ruolin and Wang, Yan-Feng and Lu, Cewu},
     booktitle = {{ICCV} IEEE/CVF International Conference on Computer Vision},
     pages = {58--68},
     year = {2023},
   }

6. 

   Demonstrating RFUniverse: A Multiphysics Simulation Platform for Embodied AI

   Haoyuan Fu*, Wenqiang Xu*, Ruolin Ye*, Han Xue, Zhenjun Yu, Tutian Tang, Yutong Li, Wenxin Du, Jieyi Zhang, and Cewu Lu

   In RSS Robotics: Science and Systems, 2023

   Bib PDF Website

   @inproceedings{rfu,
     title = {Demonstrating RFUniverse: A Multiphysics Simulation Platform for Embodied AI},
     author = {Fu*, Haoyuan and Xu*, Wenqiang and Ye*, Ruolin and Xue, Han and Yu, Zhenjun and Tang, Tutian and Li, Yutong and Du, Wenxin and Zhang, Jieyi and Lu, Cewu},
     booktitle = {{RSS} Robotics: Science and Systems},
     year = {2023},
   }

7. 

   Visual-Tactile Sensing for In-Hand Object Reconstruction

   Wenqiang Xu*, Zhenjun Yu*, Han Xue, Ruolin Ye, Siqiong Yao, and Cewu Lu

   In CVPR IEEE Conference on Computer Vision and Pattern Recognition, 2023

   Bib PDF Website

   @inproceedings{vtaco,
     title = {Visual-Tactile Sensing for In-Hand Object Reconstruction},
     author = {Xu*, Wenqiang and Yu*, Zhenjun and Xue, Han and Ye, Ruolin and Yao, Siqiong and Lu, Cewu},
     booktitle = {{CVPR} IEEE Conference on Computer Vision and Pattern Recognition},
     pages = {8803--8812},
     year = {2023},
   }

8. 

   GarmentTracking: Category-Level Garment Pose Tracking

   Han Xue, Wenqiang Xu, Jieyi Zhang, Tutian Tang, Yutong Li, Wenxin Du, Ruolin Ye, and Cewu Lu

   In CVPR IEEE Conference on Computer Vision and Pattern Recognition, 2023

   Bib PDF Website

   @inproceedings{garmenttracking,
     title = {GarmentTracking: Category-Level Garment Pose Tracking},
     author = {Xue, Han and Xu, Wenqiang and Zhang, Jieyi and Tang, Tutian and Li, Yutong and Du, Wenxin and Ye, Ruolin and Lu, Cewu},
     booktitle = {{CVPR} IEEE Conference on Computer Vision and Pattern Recognition},
     pages = {21233--21242},
     year = {2023},
   }

9. 

   Bidirectional Visual-Tactile Cross-Modal Generation Using Latent Feature Space Flow Model

   Yu Fang, Xuehe Zhang, Wenqiang Xu, Gangfeng Liu, and Jie Zhao

   Neural Networks, 2023

   Bib

   @article{bidirection,
     title = {Bidirectional Visual-Tactile Cross-Modal Generation Using Latent Feature Space Flow Model },
     author = {Fang, Yu and Zhang, Xuehe and Xu, Wenqiang and Liu, Gangfeng and Zhao, Jie},
     journal = {Neural Networks},
     year = {2023},
   }

2022

1. 

   RCare World: A Human-centric Simulation World for Caregiving Robots

   Ruolin Ye*, Wenqiang Xu*, Haoyuan Fu, Rajat Kumar Jenamani, Vy Nguyen, Cewu Lu, Katherine Dimitropoulou, and Tapomayukh Bhattacharjee

   In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022 Best RoboCup Award & Best Paper Finalist

   Bib PDF Website

   @inproceedings{rcare,
     title = {RCare World: A Human-centric Simulation World for Caregiving Robots},
     author = {Ye*, Ruolin and Xu*, Wenqiang and Fu, Haoyuan and Jenamani, Rajat Kumar and Nguyen, Vy and Lu, Cewu and Dimitropoulou, Katherine and Bhattacharjee, Tapomayukh},
     booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
     pages = {33--40},
     year = {2022},
     organization = {IEEE},
   }

2. 

   AKB-48: A Real-World Articulated Object Knowledge Base

   Liu Liu, Wenqiang Xu, Haoyuan Fu, Sucheng Qian, Qiaojun Yu, Yang Han, and Cewu Lu

   In CVPR IEEE Conference on Computer Vision and Pattern Recognition, 2022

   Bib PDF Website

   @inproceedings{akb48,
     title = {AKB-48: A Real-World Articulated Object Knowledge Base},
     author = {Liu, Liu and Xu, Wenqiang and Fu, Haoyuan and Qian, Sucheng and Yu, Qiaojun and Han, Yang and Lu, Cewu},
     booktitle = {{CVPR} IEEE Conference on Computer Vision and Pattern Recognition},
     pages = {14809--14818},
     year = {2022},
   }

3. 

   RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments

   Haoyu Xiong*, Haoyuan Fu*, Jieyi Zhang, Chen Bao, Qiang Zhang, Yongxi Huang, Wenqiang Xu, Animesh Garg, and Cewu Lu

   In CoRL Conference on Robot Learning, 2022 Oral

   Bib PDF Website

   @inproceedings{robotube,
     title = {RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments},
     author = {Xiong*, Haoyu and Fu*, Haoyuan and Zhang, Jieyi and Bao, Chen and Zhang, Qiang and Huang, Yongxi and Xu, Wenqiang and Garg, Animesh and Lu, Cewu},
     booktitle = {{CoRL} Conference on Robot Learning},
     pages = {1--10},
     year = {2022},
     organization = {PMLR},
   }

4. 

   ArtiBoost: Boosting Articulated 3d Hand-object Pose Estimation via Online Exploration and Synthesis

   Lixin Yang*, Kailin Li*, Xinyu Zhan, Jun Lv, Wenqiang Xu, Jiefeng Li, and Cewu Lu

   In CVPR IEEE Conference on Computer Vision and Pattern Recognition, 2022 Oral

   Bib PDF Code

   @inproceedings{artiboost,
     title = {ArtiBoost: Boosting Articulated 3d Hand-object Pose Estimation via Online Exploration and Synthesis},
     author = {Yang*, Lixin and Li*, Kailin and Zhan, Xinyu and Lv, Jun and Xu, Wenqiang and Li, Jiefeng and Lu, Cewu},
     booktitle = {{CVPR} IEEE Conference on Computer Vision and Pattern Recognition},
     pages = {2750--2760},
     year = {2022},
   }

5. 

   SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning

   Jun Lv*, Qiaojun Yu*, Lin Shao*, Wenhai Liu, Wenqiang Xu, and Cewu Lu

   In IEEE International Conference on Robotics and Automation, 2022

   Bib PDF Website

   @inproceedings{sagci,
     title = {SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning},
     author = {Lv*, Jun and Yu*, Qiaojun and Shao*, Lin and Liu, Wenhai and Xu, Wenqiang and Lu, Cewu},
     booktitle = {{IEEE} International Conference on Robotics and Automation},
     pages = {98--105},
     year = {2022},
     organization = {IEEE},
   }

6. 

   Toward Real-World Category-Level Articulation Pose Estimation

   Liu Liu, Han Xue, Wenqiang Xu, Haoyuan Fu, and Cewu Lu

   IEEE Transactions on Image Processing, 2022

   Bib PDF

   @article{reart48,
     title = {Toward Real-World Category-Level Articulation Pose Estimation},
     author = {Liu, Liu and Xue, Han and Xu, Wenqiang and Fu, Haoyuan and Lu, Cewu},
     journal = {IEEE Transactions on Image Processing},
     volume = {31},
     pages = {1072--1083},
     year = {2022},
     publisher = {IEEE},
   }

2021

1. 

   OMAD: Object Model with Articulated Deformations for Pose Estimation and Retrieval

   Han Xue*, Liu Liu*, Wenqiang Xu, Haoyuan Fu, and Cewu Lu

   In BMVC British Machine Vision Conference, 2021

   Bib PDF Code

   @inproceedings{omad,
     title = {OMAD: Object Model with Articulated Deformations for Pose Estimation and Retrieval},
     author = {Xue*, Han and Liu*, Liu and Xu, Wenqiang and Fu, Haoyuan and Lu, Cewu},
     booktitle = {{BMVC} British Machine Vision Conference},
     year = {2021},
   }

2. 

   HandTailor: Towards High-Precision Monocular 3D Hand Recovery

   Jun Lv, Wenqiang Xu, Lixin Yang, Sucheng Qian, Chongzhao Mao, and Cewu Lu

   In BMVC British Machine Vision Conference, 2021

   Bib PDF Code

   @inproceedings{handtailor,
     title = {HandTailor: Towards High-Precision Monocular 3D Hand Recovery},
     author = {Lv, Jun and Xu, Wenqiang and Yang, Lixin and Qian, Sucheng and Mao, Chongzhao and Lu, Cewu},
     booktitle = {{BMVC} British Machine Vision Conference},
     year = {2021},
   }

3. 

   CPF: Learning a Contact Potential Field to Model the Hand-object Interaction

   Lixin Yang*, Xinyu Zhan*, Kailin Li, Wenqiang Xu, Jiefeng Li, and Cewu Lu

   In ICCV IEEE/CVF International Conference on Computer Vision, 2021

   Bib PDF Code

   @inproceedings{cpf,
     title = {CPF: Learning a Contact Potential Field to Model the Hand-object Interaction},
     author = {Yang*, Lixin and Zhan*, Xinyu and Li, Kailin and Xu, Wenqiang and Li, Jiefeng and Lu, Cewu},
     booktitle = {{ICCV} IEEE/CVF International Conference on Computer Vision},
     pages = {11097--11106},
     year = {2021},
   }

4. 

   H2O: A Benchmark for Visual Human-human Object Handover Analysis

   Ruolin Ye*, Wenqiang Xu*, Zhendong Xue, Tutian Tang, Yanfeng Wang, and Cewu Lu

   In ICCV IEEE/CVF International Conference on Computer Vision, 2021

   Bib PDF Website

   @inproceedings{h2o,
     title = {H2O: A Benchmark for Visual Human-human Object Handover Analysis},
     author = {Ye*, Ruolin and Xu*, Wenqiang and Xue, Zhendong and Tang, Tutian and Wang, Yanfeng and Lu, Cewu},
     booktitle = {{ICCV} IEEE/CVF International Conference on Computer Vision},
     pages = {15762--15771},
     year = {2021},
   }

2020

1. 

   BiHand: Recovering Hand Mesh with Multi-stage Bisected Hourglass Networks

   Lixin Yang, Jiasen Li, Wenqiang Xu, Yiqun Diao, and Cewu Lu

   In BMVC British Machine Vision Conference, 2020

   Bib PDF Code

   @inproceedings{bihand,
     title = {BiHand: Recovering Hand Mesh with Multi-stage Bisected Hourglass Networks},
     author = {Yang, Lixin and Li, Jiasen and Xu, Wenqiang and Diao, Yiqun and Lu, Cewu},
     booktitle = {{BMVC} British Machine Vision Conference},
     year = {2020},
   }

2019

1. 

   Explicit Shape Encoding for Real-time Instance Segmentation

   Wenqiang Xu*, Haiyang Wang*, Fubo Qi, and Cewu Lu

   In ICCV IEEE/CVF International Conference on Computer Vision, 2019

   Bib PDF Code

   @inproceedings{eseseg,
     title = {Explicit Shape Encoding for Real-time Instance Segmentation},
     author = {Xu*, Wenqiang and Wang*, Haiyang and Qi, Fubo and Lu, Cewu},
     booktitle = {{ICCV} IEEE/CVF International Conference on Computer Vision},
     pages = {5168--5177},
     year = {2019},
   }

2018

1. 

   SRDA: Generating Instance Segmentation Annotation via Scanning, Reasoning and Domain Adaptation

   Wenqiang Xu*, Yonglu Li*, and Cewu Lu

   In ECCV European Conference on Computer Vision, 2018

   Bib PDF Code

   @inproceedings{srda,
     title = {SRDA: Generating Instance Segmentation Annotation via Scanning, Reasoning and Domain Adaptation},
     author = {Xu*, Wenqiang and Li*, Yonglu and Lu, Cewu},
     booktitle = {{ECCV} European Conference on Computer Vision},
     pages = {120--136},
     year = {2018},
   }