Wei Yang ![](/sites/default/files/person/weiyang.jpg) Wei Yang is a Research Scientist of Robotics Research at NVIDIA, Seattle. His research interests include computer vision, machine learning, and their applications to robotics. He received his Doctoral degree in Electronic Engineering from the Chinese University of Hong Kong in 2018. Previously, he worked as a visiting scholar at Robotics Institute, Carnegie Mellon University (10/2017-4/2018). He received the masters degree in Computer Science and the BEng degree in Software Engineering from Sun Yat-sen University in 2014 and 2011, respectively. - Personal homepage: - Google Scholar: - GitHub: Research Area(s) [Artificial Intelligence and Machine Learning ](/research-area/machine-learning-artificial-intelligence) [Robotics](/research-area/robotics) Main Field of Interest [Computer Vision](/research-area/computer-vision) ### Publications ### 2025 [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) [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) [scene\_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation](/index.php/publication/2025-01_scenesynthesizer-python-library-procedural-scene-generation-robot-manipulation) Clemens Eppner, [Adithya Murali](/index.php/person/adithya-murali), [Caelan Garrett](/index.php/person/caelan-garrett), [Rowland O'Flaherty](/index.php/person/rowland-oflaherty), [Tucker Hermans](/index.php/person/tucker-hermans), [Wei Yang](/index.php/person/wei-yang), Dieter Fox [The Journal of Open Source Software (JOSS)](https://joss.theoj.org/) ### 2024 [FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects](/index.php/publication/2024-06_foundationpose-unified-6d-pose-estimation-and-tracking-novel-objects) [Bowen Wen](/index.php/person/bowen-wen), [Wei Yang](/index.php/person/wei-yang), [Jan Kautz](/index.php/person/jan-kautz), [Stan Birchfield](/index.php/person/stan-birchfield) [CVPR 2024](https://cvpr.thecvf.com/Conferences/2024) [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 [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](/index.php/publication/2023-06_learning-human-robot-handovers-point-clouds) Sammy Christen, [Wei Yang](/index.php/person/wei-yang), [Claudia Pérez D’Arpino ](/index.php/person/cdarpino), Otmar Hilliges, Dieter Fox, [Yu-Wei Chao](/index.php/person/yu-wei-chao) [ IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023](https://cvpr2023.thecvf.com) Highlight ### 2022 [Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation](/publication/2022-12_learning-robust-real-world-dexterous-grasping-policies-implicit-shape) Qiuyu Chen, Karl Van Wyk, [Yu-Wei Chao](/person/yu-wei-chao), [Wei Yang](/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/) [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 [Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds](/publication/2021-11_goal-auxiliary-actor-critic-6d-robotic-grasping-point-clouds) Lirui Wang, Yu Xiang, [Wei Yang](/person/wei-yang), Arsalan Mousavian, Dieter Fox [Conference on Robot Learning 2021](https://www.robot-learning.org/) [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 [Human Grasp Classification for Reactive Human-to-Robot Handovers](/publication/2020-10_human-grasp-classification-reactive-human-robot-handovers) [Wei Yang](/person/wei-yang), Chris Paxton, Maya Cakmak, Dieter Fox [International Conference on Intelligent Robots and Systems (IROS), 2020](https://www.iros2020.org/) [Collaborative Interaction Models for Optimized Human-Robot Teamwork](/publication/2020-10_collaborative-interaction-models-optimized-human-robot-teamwork) Adam Fishman, Chris Paxton, [Wei Yang](/person/wei-yang), Nathan Ratliff, Byron Boots, Dieter Fox [International Conference on Intelligent Robots and Systems (IROS) 2020](https://www.iros2020.org/) [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/)