I am a forth-year PhD student at Visual Computing Laboratory, Department of Electronic Engineering, Tsinghua University, supervised by Prof. Guijin Wang. Previously I received my bachelor’s degree at Department of Electronic Engineering, Tsinghua University in July, 2021.

My research focus is on robot manipulation, embodied AI and applications of 3D scene understanding. Currently, I’m working on building a more unified representation for manipulation with a more efficient general algorithm, especially for more difficult scenes.

Recent Publications

• 2024.10.04: Our paper “GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping” has been accepted by IEEE Robotics and Automation Letters. [Link]
• 2024.09.05: Our paper “Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping” has been accepted by 8th Annual Conference on Robot Learning (CoRL 2024). [Link]
• 2024.08.15: Our paper “Target-Oriented Object Grasping via Multimodal Human Guidance” has been accepted by ECCV 2024 Workshop on Assistive Computer Vision and Robotic (ACVR 2024). [Link]
• 2024.06.07: Our paper “Category-Agnostic Pose Estimation for Point Clouds” has been accepted by IEEE International Conference on Image Processing 2024 (ICIP 2024). [Link]
• 2024.03.22: Our paper “Rethinking 6-Dof Grasp Detection: A Flexible Framework for High-Quality Grasping” is released in arXiv preprint. [Link]

News of Works in Progress

• 2024.10.04: Our paper “Region-Centric 6-Dof Grasp Detection: A Data-Efficient Solution for Cluttered Scenes” is under revision for IEEE Robotics and Automation Letters.
• 2024.08.06: Our paper “Variation-robust Few-shot 3D Affordance Segmentation for Robotic Manipulation” has been submitted to IEEE Robotics and Automation Letters.
• 2024.08.01: Our paper “Uncertainty-Aware Laser Stripe Segmentation with Non-Local Mechanisms for Welding Robots” is under revision for IEEE Transactions on Instrumentation and Measurement.

Selected Research

• Chen, S., Tang, W., Xie, P., Yang, W., & Wang, G. (2023). Efficient heatmap-guided 6-DoF grasp detection in cluttered scenes. IEEE Robotics and Automation Letters. [Link] [Github] [Video]
• Chen, S., Xie, P., Tang, W., Hu, D., & Wang, G. (2024). Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping. 8th Annual Conference on Robot Learning (CoRL 2024). [Link]
• Xie, P., Chen, S. (co-first author), Chen, Q., Tang, W., … & Wang, G. (2024). GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping. IEEE Robotics and Automation Letters. [Link]
• Xie, P., Chen, R., Chen, S. (co-first author), Qin, Y., … & Su, H. (2023). Part-Guided 3D RL for Sim2Real Articulated Object Manipulation. IEEE Robotics and Automation Letters. [Link] [Github] [Video]
• Tang, W., Chen, S. (co-first author), Xie, P., Hu, D., Yang, W., & Wang, G. (2024). Rethinking 6-Dof Grasp Detection: A Flexible Framework for High-Quality Grasping. arXiv preprint. [Link]
• Xie, P., Chen, S., Hu, D., Dai, Y., Yang, K., & Wang, G. (2024). “Target-Oriented Object Grasping via Multimodal Human Guidance”. ECCV 2024 Workshop on Assistive Computer Vision and Robotic (ACVR 2024). [Link]
• Hu, D., Chen, S., Yang, H., & Wang, G. (2023). Query-guided Support Prototypes for Few-shot 3D Indoor Segmentation. IEEE Transactions on Circuits and Systems for Video Technology. [Link]