弋力
助理教授
三维计算机视觉，三维深度学习，机器人感知，计算机图形学，几何处理
About
I am an Assistant Professor in the Institute for Interdisciplinary Information Sciences (IIIS) at Tsinghua University. I received my Ph.D. from Stanford University, advised by Professor Leonidas J. Guibas. And I spent a wonderful time at Google as a Research Scientist after graduation, working closely with Professor Thomas Funkhouser. Prior to joining Stanford, I got my bachelor's degree in Electronic Engineering from Tsinghua University.
My recent research interests focus on 3D perception, human-robot interaction and embodied AI, with the goal of equipping robotic agent with the ability of understanding and interacting with the 3D world.
Recruiting
I am actively looking for motivated visiting students, interns, PhDs, and postdocs. Please feel free to email me if you are interested.
§ For PhD applicants, please contact me at least half a year prior to your application.
§ For visiting students or research interns, we have openings for long-term internship (six months or longer). Both undergraduate and graduate students are welcomed. Please email me with your CV and transcript to apply.
News
§ NEW [2025/02] Five papers accepted to CVPR 2025.
§ NEW [2025/01] Two papers accepted to ICLR 2025.
§ NEW [2024/12] I am invited to be a speaker in the third Workshop on Reconstruction of Human-Object Interactions (RHOBIN) at CVPR 2025.
§ NEW [2024/12] I am organizing the 1st Workshop on Humanoid Agents at CVPR 2025.
§ NEW [2024/11] I am invited to be a speaker in Learning Robot Fine and Dexterous Manipulation Workshop at CoRL 2024 (video recording).
§ NEW [2024/11] Two papers accepted to 3DV 2025.
§ [2024/09] One paper accepted to NeurIPS 2024.
§ [2024/07] Three papers accepted to ECCV 2024 and one paper accepted to ACMMM 2024 as oral.
§ [2024/03] Four papers accepted to CVPR 2024.
§ [2024/01] Two papers accepted to ICRA 2024 with one also accepted to Robotics and Automation Letters (RA-L).
§ [2024/01] Two papers accepted to ICLR 2024 with one as spotlight.
§ [2023/12] Two papers accepted to AAAI 2024.
§ [2023/07] Four papers accepted to ICCV 2023.
§ [2023/06] I will serve as an Area Chair for CVPR 2024.
§ [2023/04] One paper accepted to ICML 2023 and one paper accepted to SIGGRAPH 2023.
§ [2023/03] I serve as an Area Chair for NeurIPS 2023.
§ [2023/03] Seven papers accepted to CVPR 2023.
§ [2023/01] Two papers accepted to ICLR 2023.
§ [2023/01] Two papers accepted to AAAI 2023 as orals.
§ [2022/10] I serve as an Area Chair for CVPR 2023.
§ [2022/09] One paper accepted to ECCV 2022 and one paper accepted to SIGGRAPH Asia 2022.
§ [2022/03] Seven papers accepted to CVPR 2022.
§ [2021/09] Two papers accepted to NeurIPS 2021 and one paper accepted to ICCV 2021.
§ [2021/05] I serve as an Area Chair for CVPR 2022.
§ [2021/05] I am organizing The 1st Workshop on Simulation Technology for Embodied AI at ICCV 2021.
§ [2021/03] Two papers accepted at CVPR 2021 (one oral included).
Recent Projects
*: equivalent contribution, †: corresponding author
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Deep Object-Centric 3D Perception Li Yi Ph.D. Thesis |
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Learning Physics-Based Full-Body Human Reaching and Grasping from Brief Walking References Yitang Li*, Mingxian Lin*, Zhuo Lin, Yipeng Deng, Yue Cao, Li Yi† CVPR 2025 |
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CORE4D : A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangement Yun Liu*, Chengwen Zhang*, Ruofan Xing, Bingda Tang, Bowen Yang, Li Yi† CVPR 2025 |
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Zifan Wang*, Ziqing Chen*, Junyu Chen*, Jilong Wang, Yuxin Yang, Yunze Liu, Xueyi Liu, He Wang, Li Yi† CVPR 2025 |
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Yunze Liu, Li Yi† CVPR 2025 |
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PartRM: Modeling Part-Level Dynamics with Large Cross-State Reconstruction Model Mingju Gao*, Yike Pan*, Huan-ang Gao*, Zongzheng Zhang, Wenyi Li, Hao Dong, Hao Tang, Li Yi, Hao Zhao† CVPR 2025 |
Xueyi Liu, Jianibieke Adalibieke, Qianwei Han, Yuzhe Qin, Li Yi† ICLR 2025 |
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VILA-U: a Unified Foundation Model Integrating Visual Understanding and Generation Yecheng Wu*, Zhuoyang Zhang*, Junyu Chen, Haotian Tang, Dacheng Li, Yunhao Fang, Ligeng Zhu, Enze Xie, Hongxu Yin, Li Yi, Song Han, Yao Lu ICLR 2025 |
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Yunze Liu, Changxi Chen, Li Yi† 3DV 2025 |
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ImOV3D: Learning Open Vocabulary Point Clouds 3D Object Detection from Only 2D Images Timing Yang*, Yuanliang Ju*, Li Yi† NeurIPS 2024 |
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ShapeLLM: Universal 3D Object Understanding for Embodied Interaction Zekun Qi, Runpei Dong, Shaochen Zhang, Haoran Geng, Chunrui Han, Zheng Ge, He Wang, Li Yi†, Kaisheng Ma† ECCV 2024 |
QuasiSim: Parameterized Quasi-Physical Simulators for Dexterous Manipulations Transfer Xueyi Liu, Kangbo Lyu, Jieqiong Zhang, Tao Du, Li Yi† ECCV 2024 |
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FreeMotion: MoCap-Free Human Motion Synthesis with Multimodal Large Language Models Zhikai Zhang, Yitang Li, Haofeng Huang, Mingxian Lin, Li Yi† ECCV 2024 |
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Yunze Liu, Changxi Chen, Chenjing Ding, Li Yi† ACMMM 2024 (Oral, top 3.9%) |
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Zifan Wang*, Junyu Chen*, Ziqing Chen, Pengwei Xie, Rui Chen, Li Yi† CVPR 2024 |
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TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understanding Yun Liu, Haolin Yang, Xu Si, Ling Liu, Zipeng Li, Yuxiang Zhang, Yebin Liu, Li Yi† CVPR 2024 |
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GenN2N: Generative NeRF2NeRF Translation Xiangyue Liu, Han Xue, Kunming Luo, Ping Tan†, Li Yi† CVPR 2024 |
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Physics-aware Hand-object Interaction Denoising Haowen Luo, Yunze Liu, Li Yi† CVPR 2024 |
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DreamLLM: Synergistic Multimodal Comprehension and Creation Runpei Dong, Chunrui Han, Yuang Peng, Zekun Qi, Zheng Ge, Jinrong Yang, Liang Zhao, Jianjian Sun, Hongyu Zhou, Haoran Wei, Xiangwen Kong, Xiangyu Zhang, Kaisheng Ma†, Li Yi† ICLR 2024 (Spotlight, top 5%) |
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GeneOH Diffusion: Towards Generalizable Hand-Object Interaction Denoising via Denoising Diffusion Xueyi Liu, Li Yi† ICLR 2024 |
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Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensing Yun Liu*, Xiaomeng Xu*, Weihang Chen, Haocheng Yuan, He Wang, Jing Xu, Rui Chen, Li Yi† RA-L with a presentation at ICRA 2024 |
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CrossVideo: Self-supervised Cross-modal Contrastive Learning for Point Cloud Video Understanding Yunze Liu, Changxi Chen, Zifan Wang, Li Yi† ICRA 2024 |
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Semantic Complete Scene Forecasting from a 4D Dynamic Point Cloud Sequence Zifan Wang*, Zhuorui Ye*, Haoran Wu*, Junyu Chen, Li Yi† AAAI 2024 |
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Full-Body Motion Reconstruction with Sparse Sensing from Graph Perspective Feiyu Yao, Zongkai Wu†, Li Yi† AAAI 2024 |
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NSM4D: Neural Scene Model Based Online 4D Point Cloud Sequence Understanding Yuhao Dong*, Zhuoyang Zhang*, Yunze Liu, Li Yi† arXiv:2310.08326 [cs.CV], Oct 2023 |
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TransTouch: Learning Transparent Objects Depth Sensing Through Sparse Touches Liuyu Bian, Pengyang Shi, Weihang Chen, Jing Xu, Li Yi†, Rui Chen† IROS 2023 |
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LeaF: Learning Frames for 4D Point Cloud Sequence Understanding Yunze Liu, Junyu Chen, Zekai Zhang, Li Yi† ICCV 2023 |
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Few-Shot Physically-Aware Articulated Mesh Generation via Hierarchical Deformation Xueyi Liu, Bin Wang, He Wang, Li Yi† ICCV 2023 |
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Weikang Wan*, Haoran Geng*, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, He Wang ICCV 2023 |
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3D Implicit Transporter for Temporally Consistent Keypoint Discovery Chengliang Zhong, Yuhang Zheng, Yupeng Zheng, Hao Zhao, Li Yi, Xiaodong Mu, Ling Wang, Pengfei Li, Guyue Zhou, Chao Yang, Xinliang Zhang, Jian Zhao ICCV 2023 |
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ArrangementNet: Learning Scene Arrangements for Vectorized Indoor Scene Modeling Jingwei Huang, Shanshan Zhang, Bo Duan, Yanfeng Zhang, Xiaoyang Guo, Mingwei Sun, Li Yi SIGGRAPH 2023 (Journal Track) |
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Contrast with Reconstruct: Contrastive 3D Representation Learning Guided by Generative Pretraining Zekun Qi*, Runpei Dong*, Guofan Fan, Zheng Ge, Xiangyu Zhang, Kaisheng Ma†, Li Yi† ICML 2023 |
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Complete-to-Partial 4D Distillation for Self-Supervised Point Cloud Sequence Representation Learning Zhuoyang Zhang*, Yuhao Dong*, Yunze Liu, Li Yi† CVPR 2023 |
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Juntian Zheng*, Lixing Fang*, Qingyuan Zheng*, Yun Liu, Li Yi† CVPR 2023 |
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JacobiNeRF: NeRF Shaping with Mutual Information Gradients Xiaomeng Xu, Yanchao Yang, Kaichun Mo, Boxiao Pan, Li Yi, Leonidas J. Guibas CVPR 2023 |
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Haoran Geng*, Helin Xu*, Chengyang Zhao*, Chao Xu, Li Yi, Siyuan Huang, He Wang CVPR 2023 |
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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 CVPR 2023 |
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SparseViT: Revisiting Activation Sparsity for Efficient High-Resolution Vision Transformer Xuanyao Chen*, Zhijian Liu*, Haotian Tang, Li Yi, Hang Zhao, Song Han CVPR 2023 |
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Semi-Weakly Supervised Object Kinematic Motion Prediction Gengxin Liu, Qian Sun, Haibin Huang, Chongyang Ma, Yulan Guo, Li Yi, Hui Huang, Ruizhen Hu CVPR 2023 |
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Self-Supervised Category-Level Articulated Object Pose Estimation with Part-Level SE(3) Equivariance Xueyi Liu, Ji Zhang, Ruizhen Hu, Haibin Huang, He Wang, Li Yi† ICLR 2023 |
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Runpei Dong, Zekun Qi, Linfeng Zhang, Junbo Zhang, Jianjian Sun, Zheng Ge, Li Yi†, Kaisheng Ma† ICLR 2023 |
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Language-Assisted 3D Feature Learning for Semantic Scene Understanding Junbo Zhang, Guofan Fan, Guanghan Wang, Zhengyuan Su, Kaisheng Ma†, Li Yi† AAAI 2023 (Oral Presentation) |
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Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild Jiayi Chen*, Mi Yan*, Jiazhao Zhang, Yenzhen Xu, Xiaolong Li, Yijia Weng, Li Yi, Shuran Song, He Wang AAAI 2023 (Oral Presentation) |
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MoRig: Motion-Aware Rigging of Character Meshes from Point Clouds Zhan Xu, Yang Zhou, Li Yi, Evangelos Kalogerakis SIGGRAPH Asia 2022 |
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Point Primitive Transformer for Long-Term 4D Point Cloud Video Understanding Hao Wen*, Yunze Liu*, Jingwei Huang, Bo Duan, Li Yi† ECCV 2022 |
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HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction Yunze Liu*, Yun Liu*, Che Jiang, Kangbo Lyu, Weikang Wan, Hao Shen, Boqiang Liang, Zhoujie Fu, He Wang, Li Yi† CVPR 2022 |
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Rotationally Equivariant 3D Object Detection Hong-Xing Yu, Jiajun Wu, Li Yi† CVPR 2022 |
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AutoGPart: Intermediate Supervision Search for Generalizable 3D Part Segmentation Xueyi Liu, Xiaomeng Xu, Anyi Rao, Chuang Gan, Li Yi† CVPR 2022 |
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CodedVTR: Codebook-based Sparse Voxel Transformer with Geometric Guidance Tianchen Zhao, Niansong Zhang, Xuefei Ning, He Wang, Li Yi†, Yu Wang CVPR 2022 |
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Multi-Robot Active Mapping via Neural Bipartite Graph Matching Kai Ye*, Siyan Dong*, Qingnan Fan, He Wang, Li Yi, Fei Xia, Jue Wang, Baoquan Chen CVPR 2022 |
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APES: Articulated Part Extraction from Sprite Sheets Zhan Xu, Matthew Fisher, Yang Zhou, Deepali Aneja, Rushikesh Dudhat, Li Yi, Evangelos Kalogerakis CVPR 2022 |
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Fixing Malfunctional Objects With Learned Physical Simulation and Functional Prediction Yining Hong, Kaichun Mo, Li Yi, Leonidas J. Guibas, Antonio Torralba, Joshua B. Tenenbaum, Chuang Gan CVPR 2022 |
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PTR: A Benchmark for Part-based Conceptual, Relational, and Physical Reasoning Yining Hong, Li Yi, Joshua B. Tenenbaum, Antonio Torralba, Chuang Gan NeurIPS 2021 |
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Xiaolong Li, Yijia Weng, Li Yi, Leonidas J. Guibas, A. Lynn Abbott, Shuran Song, He Wang NeurIPS 2021 |
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Contrastive Multimodal Fusion with TupleInfoNCE Yunze Liu, Qingnan Fan, Shanghang Zhang, Hao Dong, Thomas Funkhouser, Li Yi† ICCV 2021 |
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P4Contrast: Contrastive Learning with Pairs of Point-Pixel Pairs for RGB-D Scene Understanding Yunze Liu*, Li Yi*, Shanghang Zhang, Qingnan Fan, Thomas Funkhouser, Hao Dong (* equal contribution) arXiv:2012.13089 [cs.CV], Dec 2020 |
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Compositionally Generalizable 3D Structure Prediction Songfang Han, Jiayuan Gu, Kaichun Mo, Li Yi, Siyu Hu, Xuejin Chen and Hao Su arXiv:2012.02493 [cs.CV], Dec 2020 |
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Siyan Dong*, Qingnan Fan*, He Wang, Ji Shi, Li Yi, Thomas Funkhouser, Baoquan Chen, Leonidas J. Guibas (* equal contribution) CVPR 2021 Oral Presentation |
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Complete & Label: A Domain Adaptation Approach to Semantic Segmentation of LiDAR Point Clouds Li Yi, Boqing Gong, Thomas Funkhouser CVPR 2021 |
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Rethinking Sampling in 3D Point Cloud Generative Adversarial Networks He Wang*, Zetian Jiang*, Li Yi, Kaichun Mo, Hao Su, Leonidas J. Guibas (* equal contribution) CVPR 2021 Workshop on Learning to Generate 3D Shapes and Scenes |
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Yueqi Duan*, Haidong Zhu*, He Wang, Li Yi, Ram Nevatia, Leonidas J. Guibas (* equal contribution) ECCV 2020 |
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SAPIEN: A SimulAted Part-based Interactive ENvironment Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X.Chang, Leonidas J. Guibas, Hao Su CVPR 2020 Oral Presentation |
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Category-Level Articulated Object Pose Estimation Xiaolong Li*, He Wang*, Li Yi, Leonidas Guibas, A. Lynn Abbott, Shuran Song (* equal contribution) CVPR 2020 Oral Presentation |
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StructEdit: Learning Structural Shape Variations Kaichun Mo*, Paul Guerrero*, Li Yi, Hao Su, Peter Wonka, Niloy Mitra, Leonidas J. Guibas (* equal contribution) CVPR 2020 |
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AdaCoSeg: Adaptive Shape Co-Segmentation with Group Consistency Loss Chenyang Zhu, Kai Xu, Siddhartha Chaudhuri, Li Yi, Leonidas J. Guibas, Hao Zhang CVPR 2020 Oral Presentation |
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StructureNet: Hierarchical Graph Networks for 3D Shape Generation Kaichun Mo*, Paul Guerrero*, Li Yi, Hao Su, Peter Wonka, Niloy Mitra, Leonidas J. Guibas (* equal contribution) SIGGRAPH Asia 2019 |
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GSPN: Generative Shape Proposal Network for 3D Instance Segmentation in Point Cloud Li Yi, Wang Zhao, He Wang, Minhyuk Sung, Leonidas Guibas CVPR 2019 |
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TextureNet: Consistent Local Parametrizations for Learning from High-Resolution Signals on Meshes Jingwei Huang, Haotian Zhang, Li Yi, Thomas Funkhouser, Matthias Niessner, Leonidas Guibas CVPR 2019 Oral Presentation |
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Supervised Fitting of Geometric Primitives to 3D Point Clouds Lingxiao Li*, Minhyuk Sung*, Anastasia Dubrovina, Li Yi, Leonidas Guibas (* equal contribution) CVPR 2019 Oral Presentation |
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Kaichun Mo, Shilin Zhu, Angel X.Chang, Li Yi, Subarna Tripathi, Leonidas J. Guibas and Hao Su CVPR 2019 |
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GeoNet: Deep Geodesic Networks for Point Cloud Analysis Tong He, Haibin Huang, Li Yi, Yuqian Zhou, Qihao Wu, Jue Wang, Stefano Soatto CVPR 2019 Oral Presentation |
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Deep Part Induction from Articulated Object Pairs Li Yi, Haibin Huang, Difan Liu, Evangelos Kalogerakis, Hao Su, Leonidas Guibas SIGGRAPH Asia 2018 |
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Beyond Holistic Object Recognition: Enriching Image Understanding with Part States Cewu Lu, Hao Su, Yongyi Lu, Li Yi, Chikeung Tang, Leonidas Guibas CVPR 2018 |
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PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space Charles R. Qi, Li Yi, Hao Su, Leonidas J. Guibas NIPS 2017 |
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Learning Hierarchical Shape Segmentation and Labeling from Online Repositories Li Yi, Leonidas J. Guibas, Aaron Hertzmann, Vladimir G. Kim, Hao Su, Ersin Yumer SIGGRAPH 2017 |
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SyncSpecCNN: Synchronized Spectral CNN for 3D Shape Segmentation Li Yi, Hao Su, Xingwen Guo, Leonidas J. Guibas CVPR 2017 Spotlight Presentation |
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A Scalable Active Framework for Region Annotation in 3D Shape Collections Li Yi, Vladimir G. Kim, Duygu Ceylan, I-Chao Shen, Mengyuan Yan, Hao Su, Cewu Lu, Qixing Huang, Alla Sheffer, Leonidas J. Guibas SIGGRAPH Asia 2016 |
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ShapeNet: An Information-Rich 3D Model Repository Angel X. Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, Jianxiong Xiao, Li Yi, and Fisher Yu arXiv:1512.03012 [cs.GR], Dec 2015 |
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3D-Assisted Image Feature Synthesis for Novel Views of an Object Hao Su*, Fan Wang*, Li Yi, Leonidas Guibas ICCV 2015 oral |
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Image Super-Resolution Via Analysis Sparse Prior Qiang Ning, Kan Chen, Li Yi, Chuchu Fan, Yao Lu, Jiangtao Wen IEEE Signal Processing Letter 2013 |
