Publications

[arXiv20] LETO: Hybrid Lagrangian-Eulerian Method for Topology Optimization

We propose LETO, a new hybrid Lagrangian-Eulerian method for topology optimization. At the heart of LETO lies in a hybrid particle-grid …

[ICRA20] Joint Inference of States, Robot Knowledge, and Human (False-)Beliefs

Aiming to understand how human (false-)belief—a core socio-cognitive ability—would affect human interactions with robots, …

[ICRA20] Congestion-aware Evacuation Routing using Augmented Reality Devices

We present a congestion-aware routing solution for indoor evacuation, which produces real-time individual-customized evacuation routes …

[AAAI20] Theory-based Causal Transfer: Integrating Instance-level Induction and Abstract-level Structure Learning

Learning transferable knowledge across similar but different settings is a fundamental component of generalized intelligence. In this …

[AAAI20] Machine Number Sense: A Dataset of Visual Arithmetic Problems for Abstract and Relational Reasoning

As a comprehensive indicator of mathematical thinking and intelligence, the number sense (Dehaene 2011) bridges the induction of …

[NeurIPS19] PerspectiveNet: 3D Object Detection from a Single RGB Image via Perspective Points

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate …

[NeurIPS19] Learning Perceptual Inference by Contrasting

‘Thinking in pictures,’ [1] i.e., spatial-temporal reasoning, effortless and instantaneous for humans, is believed to be a …

[IROS19] Learning Virtual Grasp with Failed Demonstrations via Bayesian Inverse Reinforcement Learning

We propose Bayesian Inverse Reinforcement Learning with Failure (BIRLF), which makes use of failed demonstrations that were often …

[CogSci19] Decomposing Human Causal Learning: Bottom-up Associative Learning and Top-down Schema Reasoning

Transfer learning is fundamental for intelligence; agents expected to operate in novel and unfamiliar environments must be able to …

[TURC19] VRGym: A Virtual Testbed for Physical and Interactive AI

We propose VRGym, a virtual reality testbed for realistic human-robot interaction. Different from existing toolkits and virtual reality …

[CVPR19] RAVEN: A Dataset for Relational and Analogical Visual rEasoNing

Dramatic progress has been witnessed in basic vision tasks involving low-level perception, such as object recognition, detection, and …

[ICRA19] Self-Supervised Incremental Learning for Sound Source Localization in Complex Indoor Environment

This paper presents an incremental learning framework for mobile robots localizing the human sound source using a microphone array in a …

[ICRA19] High-Fidelity Grasping in Virtual Reality using a Glove-based System

This paper presents a design that jointly provides hand pose sensing, hand localization, and haptic feedback to facilitate real-time …

[AAAI19] Mirroring without Overimitation: Learning Functionally Equivalent Manipulation Actions

This paper presents a mirroring approach, inspired by the neuroscience discovery of the mirror neurons, to transfer demonstrated …

[AAAI19] MetaStyle: Three-Way Trade-Off Among Speed, Flexibility and Quality in Neural Style Transfer

An unprecedented booming has been witnessed in the research area of artistic style transfer ever since Gatys et.al. introduced the …

[NeurIPS18] Cooperative Holistic Scene Understanding: Unifying 3D Object, Layout, and Camera Pose Estimation

Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera …

[ECCV18] Holistic 3D Scene Parsing and Reconstruction from a Single RGB Image

We propose a computational framework to jointly parse a single RGB image and reconstruct a holistic 3D configuration composed by a set …

[IJCV18] Configurable 3D Scene Synthesis and 2D Image Rendering with Per-Pixel Ground Truth using Stochastic Grammars

We propose a systematic learning-based approach to the generation of massive quantities of synthetic 3D scenes and arbitrary numbers of …

[CogSci18] Human Causal Transfer: Challenges for Deep Reinforcement Learning

Discovery and application of causal knowledge in novel problem contexts is a prime example of human intelligence. As new information is …

[SIGGRAPH18] A Moving Least Squares Material Point Method with Displacement Discontinuity and Two-Way Rigid Body Coupling

In this paper, we introduce the Moving Least Squares Material Point Method (MLS-MPM). MLS-MPM naturally leads to the formulation of …

[CVPR18] Human-centric Indoor Scene Synthesis Using Stochastic Grammar

We present a human-centric method to sample and synthesize 3D room layouts and 2D images thereof, for the purpose of obtaining …

[ICRA18] Unsupervised Learning using Hierarchical Models for Hand-Object Interactions

Contact forces of the hand are visually unobservable, but play a crucial role in understanding hand-object interactions. In this paper, …

[ICRA18] Interactive Robot Knowledge Patching using Augmented Reality

We present a novel Augmented Reality (AR) approach, through Microsoft HoloLens, to address the challenging problems of diagnosing, …

[VR2018] Spatially Perturbed Collision Sounds Attenuate Perceived Causality in 3D Launching Events

When a moving object collides with an object at rest, people immediately perceive a causal event: i.e., the first object has launched …

[AAAI18] Tracking Occluded Objects and Recovering Incomplete Trajectories by Reasoning about Containment Relations and Human Actions

This paper studies a challenging problem of tracking severely occluded objects in long video sequences. The proposed method reasons …

[IROS17] A Glove-based System for Studying Hand-Object Manipulation via Joint Pose and Force Sensing

We present a design of an easy-to-replicate glove-based system that can reliably perform simultaneous hand pose and force sensing in …

[CogSci17] Consistent Probabilistic Simulation Underlying Human Judgment in Substance Dynamics

A growing body of evidence supports the hypothesis that humans infer future states of perceived physical situations by propagating …

[TVCG16] The Martian: Examining Human Physical Judgments Across Virtual Gravity Fields

This paper examines how humans adapt to novel physical situations with unknown gravitational acceleration in immersive virtual …

[SIGGRAPHAsia16Workshop] A Virtual Reality Platform for Dynamic Human-Scene Interaction

Both synthetic static and simulated dynamic 3D scene data is highly useful in the fields of computer vision and robot task planning. …

[IJCAI16] What is Where: Inferring Containment Relations from Videos

In this paper, we present a probabilistic approach to explicitly infer containment relations between objects in 3D scenes. Given an …

[CVPR16] Inferring Forces and Learning Human Utilities From Videos

We propose a notion of affordance that takes into account physical quantities generated when the human body interacts with real-world …

[CogSci16] Probabilistic Simulation Predicts Human Performance on Viscous Fluid-Pouring Problem

The physical behavior of moving fluids is highly complex, yet people are able to interact with them in their everyday lives with …

[CVPR15] Understanding Tools: Task-Oriented Object Modeling, Learning and Recognition

In this paper, we present a new framework for task-oriented object modeling, learning and recognition. The framework include: i) …

[CogSci15] Evaluating Human Cognition of Containing Relations with Physical Simulation

Containers are ubiquitous in daily life. By container, we consider any physical object that can contain other objects, such as bowls, …

Dr. Android and Mr. Hide: Fine-grained security policies on unmodified Android

Google’s Android platform includes a permission model thatprotects access to sensitive capabilities, such as Internet ac-cess, …