Haoran Geng | 耿浩然

I am a junior student in Turing Class at the School of Electronic Engineering and Computer Science(EECS), Peking University and a research intern at Beijing Institute for General Artificial Intelligence (BIGAI). I am honored to be advised by Prof. He Wang and co-advised by Siyuan Huang. In addition, I am privileged to work closely with Prof. Li Yi, Prof. Hao Dong and Prof. Baoquan Chen. I am also grateful to have grown up and studied with my twin brother Yiran Geng, which has been a truly unique and special experience for me.

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News

  • [2023/03] 🎉GAPartNet is selected as a highlight at CVPR 2023 (10% of accepted papers, 2.5% of submissions).
  • [2023/02] 🎉Three papers get accepted to CVPR 2023 with GAPartNet receiving final reviews of all accepts (the highest ratings).
  • [2023/01] 🎉One paper gets accepted to ICRA 2023.

  • Research

    My research interest is broadly in 3D Computer Vision and Robotics, with particular interests in generalizable object perception, understanding and manipulation currently. My research objective is to build an intelligent agent with the robust and generalizable ability to perceive and interact with a complex real-world environment.




    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
    ArXiv / Project Page / Code (Coming Soon) / Dataset
    CVPR 2023, Highlight (2.5% of submissions) with final reviews of all accepts

    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.

    PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations
    Haoran Geng*, Ziming Li*, Yiran Geng, Jiayi Chen, Hao Dong, He Wang
    ArXiv / Project Page / Code (Coming Soon)
    CVPR 2023

    We introduce a large-scale, part-based, cross-category object manipulation benchmark with tasks in realistic, vision-based settings and design a novel augmented state-to-vision distillation method for these challenging tasks.




    UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy

    Yinzhen Xu*, Weikang Wan*, Jialiang Zhang*, Haoran Liu*, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, Tengyu Liu, Li Yi, He Wang
    ArXiv / Project Page / Code (Coming Soon)
    CVPR 2023

    We tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting.




    RLAfford: End-to-End Affordance Learning for Robotic Manipulation

    Yiran Geng*, Boshi An*, Haoran Geng, Yuanpei Chen, Yaodong Yang, Hao Dong
    ArXiv / Project Page / Video / Code / Media (CFCS)
    ICRA 2023

    In this study, we take advantage of visual affordance by using the contact information generated during the RL training process to predict contact maps of interest.


    Before 2022


    Ministry of Education Talent Program Thesis (Physics Track)
    Haoran Geng, Yiran Geng, Xintian Dong, Yue Meng, Xujv Sun, Houpu Niu
    PDF

    I was selected for the Ministry of Education Talent Program and conducted physics research at Nankai University during my high school years.


    Recent Talks

  • I presented "Learning Generalizable and Actionable Parts for Cross-Category Object Perception and Manipulation" at the Turing Student Research Forum at CFCS, Peking University on June 8, 2022 and was honored to receive the Outstanding Presentation Award.
    Video / Media

  • Services

  • Reviewer: ICCV2023
  • One of the leaders of Linux Club of Peking University(LCPU)
  • We organized High Performance Computing Integrated Competitiveness Competition and I was also the manager of the AI part.

  • Experience

    Stanford University
    2023.02 - Present
    Visiting Research Student through the UGVR Program
    Research Advisor: Prof. Leonidas J. Guibas
    Beijing Institute for General Artificial Intelligence (BIGAI)
    2021.12 - Present
    Research Intern
    Research Advisor: Siyuan Huang
    Academic Advisor: Prof. Song-Chun Zhu
    Visual Computing and Learning Lab(VCL)
    2022.6 - 2022.9
    Summer Research Intern
    Research Advisor: Prof. He Wang
    Academic Advisor: Prof. Baoquan Chen
    Peking University (PKU)
    2020.09 - Present
    Undergraduate Student, Turing Class
    Research Advisor: Prof. He Wang

    Selected Awards and Honors

  • 2022: Center on Frontiers of Computing Studies (CFCS) Outstanding Student
  • 2022: Arawana Scholarship (12000RMB¥)
  • 2022: Zhongying Moral Education Scholarship (4000RMB¥)
  • 2022: Merit Student of Peking University
  • 2022: Turing Student Research Forum: Outstanding Presentation Award (1000RMB¥)
  • 2021: National Scholarship (Highest honor for undergraduates in China, awarded to top 1% students, 8000RMB¥)
  • 2021: SenseTime Scholarship (Youngest winner, 20000RMB¥)
  • 2021: Zhongying Moral Education Scholarship (4000RMB¥)
  • 2021: Merit Student of Peking University
  • 2021: Ministry of Education Top Talent Program Scholarship (1000RMB¥)
  • 2020: China University Computer Competition - Group Programming LadderCompetition Silver Medalist
  • 2019: The 36th Chinese Physics Olympiad(CPHO) Silver Medalist
  • 2019: The First Prize of National High School Mathematics Contest, Tianjin, China

  • Miscellaneous

    In addition to my studies and research, I have a wide range of interests.

  • I love sports and excel in middle-distance running🏃‍♂️, swimming🏊‍♂️, etc. I am also honored to be awarded the title of Excellent Level Athlete (Level 3) at Peking University.

  • I am very interested in art🥳 and have also enrolled in the “Computing and Arts” program by Prof. Baoquan Chen and Prof. Feng Peng in anticipation of making great art through computing and programming.

  • I enjoy hip-hop😎, piano🎹, and painting🎨, and I have been fortunate enough to have earned the title of Artistic Specialists Student.

  • I have a passion for philanthropy💖. I have participated in many charity events, and for my outstanding performance and contributions, I have been honored to receive the Zhongying Moral Education Scholarship for two consecutive years.

  • To promote computer knowledge💻, I became one of the leaders of Linux Club of Peking University(LCPU), helping to popularize computer knowledge with students at Peking University.



  • This homepage is designed based on Jon Barron's website and deployed on Github Pages.
    © 2023 Haoran Geng