Yu-Wei Chao ![](/sites/default/files/person/IMG-3389-cropped-resized.JPG) Research Area(s) [Artificial Intelligence and Machine Learning ](/index.php/research-area/machine-learning-artificial-intelligence) [Computer Graphics](/index.php/research-area/computer-graphics) [Computer Vision](/index.php/research-area/computer-vision) [Robotics](/index.php/research-area/robotics) Main Field of Interest [Robotics](/index.php/research-area/robotics) Google Scholar [https://scholar.google.com/citations?user=48Y9F-YAAAAJ&hl=en](https://scholar.google.com/citations?user=48Y9F-YAAAAJ&hl=en) ### Publications ### 2025 [Task-Oriented Human Grasp Synthesis via Context- and Task-Aware Diffusers](/publication/2025-10_task-oriented-human-grasp-synthesis-context-and-task-aware-diffusers) An-Lun Liu, [Yu-Wei Chao](/person/yu-wei-chao), Yi-Ting Chen [IEEE/CVF International Conference on Computer Vision (ICCV) 2025](https://iccv.thecvf.com) [VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning](/publication/2025-09_vt-refine-learning-bimanual-assembly-visuo-tactile-feedback-simulation-fine) Binghao Huang, [Jie Xu](/person/jie-xu), [Iretiayo Akinola](/person/iretiayo-akinola), [Wei Yang](/person/wei-yang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Rowland O'Flaherty](/person/rowland-oflaherty), Dieter Fox, Xiaolong Wang, Arsalan Mousavian, [Yu-Wei Chao](/person/yu-wei-chao), Yunzhu Li [Conference on Robot Learning (CoRL) 2025](https://www.corl.org) [Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration](/publication/2025-09_dexplore-scalable-neural-control-dexterous-manipulation-reference-scoped) Sirui Xu, [Yu-Wei Chao](/person/yu-wei-chao), Liuyu Bian, Arsalan Mousavian, Yu-Xiong Wang, Liang-Yan Gui, [Wei Yang](/person/wei-yang) [Conference on Robot Learning (CoRL) 2025](https://www.corl.org) [Inference-Time Policy Steering through Human Interactions](/index.php/publication/2025-05_inference-time-policy-steering-through-human-interactions) Yanwei Wang, Lirui Wang, Yilun Du, [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), [Xuning Yang](/index.php/person/xuning-yang), [Yu-Wei Chao](/index.php/person/yu-wei-chao), [Claudia Pérez D’Arpino ](/index.php/person/cdarpino), Dieter Fox, Julie Shah [IEEE ICRA 2025](https://arxiv.org/pdf/2411.16627) [TWIN: Two-handed Intelligent Benchmark for Bimanual Manipulation](/index.php/publication/2025-05_twin-two-handed-intelligent-benchmark-bimanual-manipulation) Markus Grotz, Mohit Shridhar, [Yu-Wei Chao](/index.php/person/yu-wei-chao), Tamim Asfour, Dieter Fox [IEEE International Conference on Robotics and Automation (ICRA) 2025](https://2025.ieee-icra.org) [Latent Action Pretraining from Videos](/publication/2025-04_latent-action-pretraining-videos) Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, [Ajay Mandlekar](/person/ajay-mandlekar), Reuben Tan, [Yu-Wei Chao](/person/yu-wei-chao), Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo [International Conference on Learning Representations (ICLR) 2025](https://iclr.cc/Conferences/2025) ### 2024 [Proto-CLIP: Vision-Language Prototypical Network for Few-Shot Learning](/publication/2024-10_proto-clip-vision-language-prototypical-network-few-shot-learning) Jishnu Jaykumar P, Kamalesh Palanisamy, [Yu-Wei Chao](/person/yu-wei-chao), Xinya Du, Yu Xiang [IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024](https://iros2024-abudhabi.org) [RVT-2: Learning Precise Manipulation from Few Examples](/publication/2024-07_rvt-2-learning-precise-manipulation-few-examples) [Ankit Goyal](/person/ankit-goyal), [Valts Blukis](/person/valts-blukis), [Jie Xu](/person/jie-xu), [Yijie Guo](/person/yijie-guo), [Yu-Wei Chao](/person/yu-wei-chao), Dieter Fox [Robotics: Science and Systems (RSS) 2024](https://roboticsconference.org/) [SKT-Hang: Hanging Everyday Objects via Object-Agnostic Semantic Keypoint Trajectory Generation](/index.php/publication/2024-05_skt-hang-hanging-everyday-objects-object-agnostic-semantic-keypoint-trajectory) Chia-Liang Kuo, [Yu-Wei Chao](/index.php/person/yu-wei-chao), Yi-Ting Chen [IEEE International Conference on Robotics and Automation (ICRA) 2024](https://2024.ieee-icra.org) [SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers](/publication/2024-05_synh2r-synthesizing-hand-object-motions-learning-human-robot-handovers) Sammy Christen, Lan Feng, [Wei Yang](/person/wei-yang), [Yu-Wei Chao](/person/yu-wei-chao), Otmar Hilliges, Jie Song [IEEE International Conference on Robotics and Automation (ICRA) 2024](https://2024.ieee-icra.org) ### 2023 [RVT: Robotic View Transformer for 3D Object Manipulation](/index.php/publication/2023-11_rvt-robotic-view-transformer-3d-object-manipulation) [Ankit Goyal](/index.php/person/ankit-goyal), [Jie Xu](/index.php/person/jie-xu), [Yijie Guo](/index.php/person/yijie-guo), [Valts Blukis](/index.php/person/valts-blukis), [Yu-Wei Chao](/index.php/person/yu-wei-chao), Dieter Fox [Conference on Robot Learning (CoRL) 2023](https://www.corl2023.org) [SCONE: A Food Scooping Robot Learning Framework with Active Perception](/publication/2023-11_scone-food-scooping-robot-learning-framework-active-perception) Yen-Ling Tai, Yu Chien Chiu, [Yu-Wei Chao](/person/yu-wei-chao), Yi-Ting Chen [Conference on Robot Learning (CoRL) 2023](https://www.corl2023.org) [AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](/publication/2023-06_anyteleop-general-vision-based-dexterous-robot-arm-hand-teleoperation-system) Yuzhe Qin, [Wei Yang](/person/wei-yang), Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, [Yu-Wei Chao](/person/yu-wei-chao), Dieter Fox [Robotics: Science and Systems (RSS) 2023](https://roboticsconference.org/program/papers/015/) [Learning Human-to-Robot Handovers from Point Clouds](/publication/2023-06_learning-human-robot-handovers-point-clouds) Sammy Christen, [Wei Yang](/person/wei-yang), [Claudia Pérez D’Arpino ](/person/cdarpino), Otmar Hilliges, Dieter Fox, [Yu-Wei Chao](/person/yu-wei-chao) [ IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023](https://cvpr2023.thecvf.com) Highlight [FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments](/publication/2023-05_fewsol-dataset-few-shot-object-learning-robotic-environments) Jishnu Jaykumar P, [Yu-Wei Chao](/person/yu-wei-chao), Yu Xiang [IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org) ### 2022 [Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation](/index.php/publication/2022-12_learning-robust-real-world-dexterous-grasping-policies-implicit-shape) Qiuyu Chen, Karl Van Wyk, [Yu-Wei Chao](/index.php/person/yu-wei-chao), [Wei Yang](/index.php/person/wei-yang), Arsalan Mousavian, Abhishek Gupta, Dieter Fox [The Conference on Robot Learning (CoRL) 2022](https://corl2022.org/) [Learning Perceptual Concepts by Bootstrapping from Human Queries](/publication/2022-10_learning-perceptual-concepts-bootstrapping-human-queries) Andreea Bobu, Chris Paxton, [Wei Yang](/person/wei-yang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Yu-Wei Chao](/person/yu-wei-chao), Maya Cakmak, Dieter Fox [RA-L / IROS 2022](https://iros2022.org/) [Ifor: Iterative flow minimization for robotic object rearrangement](/index.php/publication/2022-06_ifor-iterative-flow-minimization-robotic-object-rearrangement) [Ankit Goyal](/index.php/person/ankit-goyal), Arsalan Mousavian, Chris Paxton, [Yu-Wei Chao](/index.php/person/yu-wei-chao), Brian Okorn, Jia Deng, Dieter Fox [IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022](https://cvpr2022.thecvf.com/) [HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers](/publication/2022-05_handoversim-simulation-framework-and-benchmark-human-robot-object-handovers) [Yu-Wei Chao](/person/yu-wei-chao), Chris Paxton, Yu Xiang, [Wei Yang](/person/wei-yang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Tao Chen, [Adithya Murali](/person/adithya-murali), Maya Cakmak, Dieter Fox [IEEE International Conference on Robotics and Automation (ICRA) 2022](https://www.icra2022.org) [Model Predictive Control for Fluid Human-to-Robot Handovers](/index.php/publication/2022-04_model-predictive-control-fluid-human-robot-handovers) [Wei Yang](/index.php/person/wei-yang), [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), Chris Paxton, [Iretiayo Akinola](/index.php/person/iretiayo-akinola), [Yu-Wei Chao](/index.php/person/yu-wei-chao), Maya Cakmak, Dieter Fox [IEEE International Conference on Robotics and Automation (ICRA) 2022](https://www.icra2022.org/) ### 2021 [DexYCB: A Benchmark for Capturing Hand Grasping of Objects](/publication/2021-06_dexycb-benchmark-capturing-hand-grasping-objects) [Yu-Wei Chao](/person/yu-wei-chao), [Wei Yang](/person/wei-yang), Yu Xiang, [Pavlo Molchanov](/person/pavlo-molchanov), Ankur Handa, [Jonathan Tremblay](/person/jonathan-tremblay), [Yashraj Narang](/person/yashraj-narang), Karl Van Wyk, [Umar Iqbal](/person/umar-iqbal), [Stan Birchfield](/person/stan-birchfield), [Jan Kautz](/person/jan-kautz), Dieter Fox [IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021](http://cvpr2021.thecvf.com) [Reactive Human-to-Robot Handovers of Arbitrary Objects](/publication/2021-03_reactive-human-robot-handovers-arbitrary-objects) [Wei Yang](/person/wei-yang), Chris Paxton, Arsalan Mousavian, [Yu-Wei Chao](/person/yu-wei-chao), Maya Cakmak, Dieter Fox ICRA 2021 Best Paper in Human-Robot Interaction, ICRA 2021 ### 2020 [Motion reasoning for goal-based imitation learning](/publication/2020-05_motion-reasoning-goal-based-imitation-learning) De-An Huang, [Yu-Wei Chao](/person/yu-wei-chao), Chris Paxton, Xinke Deng, Li Fei-Fei, Juan Carlos Niebles, Animesh Garg, Dieter Fox [ICRA 2020](https://ieeexplore.ieee.org/iel7/9187508/9196508/09197172.pdf) [DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System](/publication/2020-05_dexpilot-vision-based-teleoperation-dexterous-robotic-hand-arm-system) Ankur Handa, Karl Van Wyk, [Wei Yang](/person/wei-yang), Jacky Liang, [Yu-Wei Chao](/person/yu-wei-chao), Qian Wan, [Stan Birchfield](/person/stan-birchfield), Nathan Ratliff, Dieter Fox [ICRA 2020](http://icra2020.org/)