Helin Xu | 徐赫临

I am an undergraduate student at Tsinghua University, and I will be joining UC San Diego in 2023 Fall. During my undergraduate study, I have been very fortunate to be advised by Prof. Xiaolong Wang, Prof. He Wang and Prof. Yebin Liu on computer vision and robotics.

Email / Google Scholar / GitHub / Twitter / LinkedIn

News

[2023/03] GAPartNet selected as Highlight (top 2.5% of all submissions) at CVPR 2023 with final reviews of All Accepts.

[2023/02] Two papers accepted to CVPR 2023.

Research

My primary research interests lie in embodied AI (robotics and 3D vision). I aim to develop embodied agents that understand their surroundings and have generalizable perception and manipulation skills in diverse unseen environments.

DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects
Chen Bao*, Helin Xu*, Yuzhe Qin, Xiaolong Wang†
CVPR 2023
ArXiv / Project Page / Code

We propose DexArt, a task suite of Dexterous manipulation with Articulated object using point cloud observation. We experiment with extensive benchmark methods that learn category-level manipulation policy on seen objects. We evaluate the policies’ generalizability on a collection of unseen objects, as well as their robustness to camera viewpoint change.

GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Parts
Haoran Geng*, Helin Xu*, Chengyang Zhao*, Chao Xu, Li Yi, Siyuan Huang, He Wang†
CVPR 2023, Highlight (top 2.5% of all submissions)
ArXiv / Project Page / Code / Dataset

We propose to learn generalizable object perception and manipulation skills via Generalizable and Actionable Parts, and present GAPartNet, a large-scale interactive dataset with rich part annotations.

Experience

	Research Assistant, UC San Diego 2022.03 - Present Research Advisor: Prof. Xiaolong Wang
	Research Assistant, Peking University 2021.04 - 2022.03 Research Advisor: Prof. He Wang
	Research Assistant, Tsinghua University 2020.06 - 2021.04 Research Advisor: Prof. Yebin Liu