29 Jan 2024: One paper accepted
at ICRA 2024, Yokohama, Open-X
Embodiment.
3 Oct 2023: Excited to have
contributed to the Open-X
Embodiment world collaboration paper by
evaluating the generalist robot model in the
real-world setup at the University of Freiburg.
Master Project: Hierarchical Open-Vocabulary
Scene Graphs for Language-Grounded Robot
Navigation (got accepted to RSS 2024,
Netherlands) with Abdelrhman Werby
Master Project/Thesis Opportunities
I have several ideas for Master's projects and Master's
thesis in the following directions:
Language-conditioned Zero-Shot Manipulation with
Large Language Models (such as
Code
as Policies
)
Multimodal Learning for Manipulation and
Navigation
If you are interested in the topics above (you can
explore the related works through the links above) or
you want some talks and share some ideas of yours
(anything), feel free to drop me an email and attach
your CV and transcript. We can arrange an appointment.
Publications
Preprint Papers
Chenguang Huang, Shengchao Yan,
and Wolfram Burgard
NEW
BYE: Build Your Encoder with
One Sequence of Exploration
Data for Long-Term Dynamic
Scene Understanding
arXiv preprint: 2412.02449
DownloadBibTeX
@article{huang24bye,
Author = {Chenguang Huang and Shengchao Yan and and Wolfram Burgard},
Title = {BYE: Build Your Encoder with One Sequence of Exploration Data for Long-Term Dynamic Scene Understanding},
journal = {arXiv preprint:2412.02449},
Year = {2024},
}
Abdelrhman Werby*, Chenguang
Huang*, Martin Büchner*, Abhinav
Valada, and Wolfram Burgard
(*Equal Contribution)
NEW
Hierarchical Open-Vocabulary
3D Scene Graphs for
Language-Grounded Robot
Navigation
Robotics:
Science and
Systems (RSS), 2024, Delft,
Netherlands DownloadBibTeX
@article{werby24hovsg,
Author = {Abdelrhman Werby and Chenguang Huang and Martin Büchner and Abhinav Valada and Wolfram Burgard},
Title = {Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation},
journal = {Robotics: Science and Systems (RSS)},
Year = {2024},
}
Open X-Embodiment Collaboration
NEW
Open X-Embodiment: Robotic
Learning
Datasets and RT-X Models
Best Conference Paper
Award Proceedings of the IEEE
International
Conference on Robotics and
Automation
(ICRA), Yokohama, Japan,
2024 DownloadBibTeX
@misc{open_x_embodiment_rt_x_2023,
title={Open {X-E}mbodiment: Robotic Learning Datasets and {RT-X} Models},
author = {Open X-Embodiment Collaboration and Abhishek Padalkar and Acorn Pooley and Ajinkya Jain and Alex Bewley and Alex Herzog and Alex Irpan and Alexander Khazatsky and Anant Rai and Anikait Singh and Anthony Brohan and Antonin Raffin and Ayzaan Wahid and Ben Burgess-Limerick and Beomjoon Kim and Bernhard Schölkopf and Brian Ichter and Cewu Lu and Charles Xu and Chelsea Finn and Chenfeng Xu and Cheng Chi and Chenguang Huang and Christine Chan and Chuer Pan and Chuyuan Fu and Coline Devin and Danny Driess and Deepak Pathak and Dhruv Shah and Dieter Büchler and Dmitry Kalashnikov and Dorsa Sadigh and Edward Johns and Federico Ceola and Fei Xia and Freek Stulp and Gaoyue Zhou and Gaurav S. Sukhatme and Gautam Salhotra and Ge Yan and Giulio Schiavi and Hao Su and Hao-Shu Fang and Haochen Shi and Heni Ben Amor and Henrik I Christensen and Hiroki Furuta and Homer Walke and Hongjie Fang and Igor Mordatch and Ilija Radosavovic and Isabel Leal and Jacky Liang and Jaehyung Kim and Jan Schneider and Jasmine Hsu and Jeannette Bohg and Jeffrey Bingham and Jiajun Wu and Jialin Wu and Jianlan Luo and Jiayuan Gu and Jie Tan and Jihoon Oh and Jitendra Malik and Jonathan Tompson and Jonathan Yang and Joseph J. Lim and João Silvério and Junhyek Han and Kanishka Rao and Karl Pertsch and Karol Hausman and Keegan Go and Keerthana Gopalakrishnan and Ken Goldberg and Kendra Byrne and Kenneth Oslund and Kento Kawaharazuka and Kevin Zhang and Keyvan Majd and Krishan Rana and Krishnan Srinivasan and Lawrence Yunliang Chen and Lerrel Pinto and Liam Tan and Lionel Ott and Lisa Lee and Masayoshi Tomizuka and Maximilian Du and Michael Ahn and Mingtong Zhang and Mingyu Ding and Mohan Kumar Srirama and Mohit Sharma and Moo Jin Kim and Naoaki Kanazawa and Nicklas Hansen and Nicolas Heess and Nikhil J Joshi and Niko Suenderhauf and Norman Di Palo and Nur Muhammad Mahi Shafiullah and Oier Mees and Oliver Kroemer and Pannag R Sanketi and Paul Wohlhart and Peng Xu and Pierre Sermanet and Priya Sundaresan and Quan Vuong and Rafael Rafailov and Ran Tian and Ria Doshi and Roberto Martín-Martín and Russell Mendonca and Rutav Shah and Ryan Hoque and Ryan Julian and Samuel Bustamante and Sean Kirmani and Sergey Levine and Sherry Moore and Shikhar Bahl and Shivin Dass and Shuran Song and Sichun Xu and Siddhant Haldar and Simeon Adebola and Simon Guist and Soroush Nasiriany and Stefan Schaal and Stefan Welker and Stephen Tian and Sudeep Dasari and Suneel Belkhale and Takayuki Osa and Tatsuya Harada and Tatsuya Matsushima and Ted Xiao and Tianhe Yu and Tianli Ding and Todor Davchev and Tony Z. Zhao and Travis Armstrong and Trevor Darrell and Vidhi Jain and Vincent Vanhoucke and Wei Zhan and Wenxuan Zhou and Wolfram Burgard and Xi Chen and Xiaolong Wang and Xinghao Zhu and Xuanlin Li and Yao Lu and Yevgen Chebotar and Yifan Zhou and Yifeng Zhu and Ying Xu and Yixuan Wang and Yonatan Bisk and Yoonyoung Cho and Youngwoon Lee and Yuchen Cui and Yueh-hua Wu and Yujin Tang and Yuke Zhu and Yunzhu Li and Yusuke Iwasawa and Yutaka Matsuo and Zhuo Xu and Zichen Jeff Cui},
howpublished = {\url{https://arxiv.org/abs/2310.08864}},
year = {2023},
}
Chenguang Huang and Oier Mees
and Andy Zeng and Wolfram
Burgard
NEW:
Audio Visual Language
Maps for Robot Navigation
Proceeding of the 18th
International Symposium on
Experimental Robotics
(ISER), Chiang Mai,
Thailand, 2023 DownloadBibTeX
@proceeding{huang23avlmaps,
title={Audio Visual Language Maps for Robot Navigation},
author={Chenguang Huang and Oier Mees and Andy Zeng and Wolfram Burgard},
booktitle = {Proceeding of the 18th International Symposium on Experimental Robotics (ISER)},
year={2023},
address = {Chiang Mai, Thailand}
}
Chenguang Huang and Oier Mees
and Andy Zeng
and Wolfram Burgard
Visual
Language Maps for Robot
Navigation
Proceedings of the IEEE
International
Conference on Robotics and
Automation
(ICRA), London, UK,
2023 DownloadBibTeX
@inproceedings{huang23vlmaps,
title={Visual Language Maps for Robot Navigation},
author={Chenguang Huang and Oier Mees and Andy Zeng and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year={2023},
address = {London, UK}
}
Abdelrhman Werby* and Chenguang
Huang* and Martin Büchner* and Abhinav
Valada and Wolfram Burgard
(*Equal Contribution)
NEW
Hierarchical Open-Vocabulary 3D
Scene Graphs for Language-Grounded
Robot Navigation
IEEE International Conference on
Robotics and Automation:
Vision-Language Models
for Navigation and Manipulation
(VLMNM) Workshop in
Yokohama, Japan 2024
DownloadProject
PageCodeVLMNM
workshop
Nicolai Dorka* and Chenguang Huang* and
Tim
Welschehold and Wolfram Burgard
(*Equal Contribution)
NEW
What Matters in Employing Vision
Language Models for Tokenizing
Actions in Robot Control?
IEEE International Conference on
Robotics and Automation:
Vision-Language Models
for Navigation and Manipulation
(VLMNM) Workshop in
Yokohama, Japan 2024
DownloadProject
PageCodeVLMNM
workshop
Open X-Embodiment Collaboration
Open X-Embodiment: Robotic Learning
Datasets and RT-X Models
Thirty-seventh Conference on
Neddural
Information Processing Systems
(NeurIPS) 6th Robot Learning
Workshop: Pretraining, Fine-Tuning,
and Generalization with Large Scale
Models (Robot Learning), New
Orleans, the United
States, 2023
DownloadBibTeX
@misc{open_x_embodiment_rt_x_2023,
title={Open {X-E}mbodiment: Robotic Learning Datasets and {RT-X} Models},
author = {Open X-Embodiment Collaboration and Abhishek Padalkar and Acorn Pooley and Ajinkya Jain and Alex Bewley and Alex Herzog and Alex Irpan and Alexander Khazatsky and Anant Rai and Anikait Singh and Anthony Brohan and Antonin Raffin and Ayzaan Wahid and Ben Burgess-Limerick and Beomjoon Kim and Bernhard Schölkopf and Brian Ichter and Cewu Lu and Charles Xu and Chelsea Finn and Chenfeng Xu and Cheng Chi and Chenguang Huang and Christine Chan and Chuer Pan and Chuyuan Fu and Coline Devin and Danny Driess and Deepak Pathak and Dhruv Shah and Dieter Büchler and Dmitry Kalashnikov and Dorsa Sadigh and Edward Johns and Federico Ceola and Fei Xia and Freek Stulp and Gaoyue Zhou and Gaurav S. Sukhatme and Gautam Salhotra and Ge Yan and Giulio Schiavi and Hao Su and Hao-Shu Fang and Haochen Shi and Heni Ben Amor and Henrik I Christensen and Hiroki Furuta and Homer Walke and Hongjie Fang and Igor Mordatch and Ilija Radosavovic and Isabel Leal and Jacky Liang and Jaehyung Kim and Jan Schneider and Jasmine Hsu and Jeannette Bohg and Jeffrey Bingham and Jiajun Wu and Jialin Wu and Jianlan Luo and Jiayuan Gu and Jie Tan and Jihoon Oh and Jitendra Malik and Jonathan Tompson and Jonathan Yang and Joseph J. Lim and João Silvério and Junhyek Han and Kanishka Rao and Karl Pertsch and Karol Hausman and Keegan Go and Keerthana Gopalakrishnan and Ken Goldberg and Kendra Byrne and Kenneth Oslund and Kento Kawaharazuka and Kevin Zhang and Keyvan Majd and Krishan Rana and Krishnan Srinivasan and Lawrence Yunliang Chen and Lerrel Pinto and Liam Tan and Lionel Ott and Lisa Lee and Masayoshi Tomizuka and Maximilian Du and Michael Ahn and Mingtong Zhang and Mingyu Ding and Mohan Kumar Srirama and Mohit Sharma and Moo Jin Kim and Naoaki Kanazawa and Nicklas Hansen and Nicolas Heess and Nikhil J Joshi and Niko Suenderhauf and Norman Di Palo and Nur Muhammad Mahi Shafiullah and Oier Mees and Oliver Kroemer and Pannag R Sanketi and Paul Wohlhart and Peng Xu and Pierre Sermanet and Priya Sundaresan and Quan Vuong and Rafael Rafailov and Ran Tian and Ria Doshi and Roberto Martín-Martín and Russell Mendonca and Rutav Shah and Ryan Hoque and Ryan Julian and Samuel Bustamante and Sean Kirmani and Sergey Levine and Sherry Moore and Shikhar Bahl and Shivin Dass and Shuran Song and Sichun Xu and Siddhant Haldar and Simeon Adebola and Simon Guist and Soroush Nasiriany and Stefan Schaal and Stefan Welker and Stephen Tian and Sudeep Dasari and Suneel Belkhale and Takayuki Osa and Tatsuya Harada and Tatsuya Matsushima and Ted Xiao and Tianhe Yu and Tianli Ding and Todor Davchev and Tony Z. Zhao and Travis Armstrong and Trevor Darrell and Vidhi Jain and Vincent Vanhoucke and Wei Zhan and Wenxuan Zhou and Wolfram Burgard and Xi Chen and Xiaolong Wang and Xinghao Zhu and Xuanlin Li and Yao Lu and Yevgen Chebotar and Yifan Zhou and Yifeng Zhu and Ying Xu and Yixuan Wang and Yonatan Bisk and Yoonyoung Cho and Youngwoon Lee and Yuchen Cui and Yueh-hua Wu and Yujin Tang and Yuke Zhu and Yunzhu Li and Yusuke Iwasawa and Yutaka Matsuo and Zhuo Xu and Zichen Jeff Cui},
howpublished = {\url{https://arxiv.org/abs/2310.08864}},
year = {2023},
}
Open X-Embodiment Collaboration
Open X-Embodiment: Robotic Learning
Datasets and RT-X Models
Conference on Robot Learning (CoRL)
Workshop Towards Generalist Robots:
Learning Paradigms for Scalable
Skill Acquisition (TGR), Atlanta,
the
United States, 2023
DownloadBibTeX
@misc{open_x_embodiment_rt_x_2023,
title={Open {X-E}mbodiment: Robotic Learning Datasets and {RT-X} Models},
author = {Open X-Embodiment Collaboration and Abhishek Padalkar and Acorn Pooley and Ajinkya Jain and Alex Bewley and Alex Herzog and Alex Irpan and Alexander Khazatsky and Anant Rai and Anikait Singh and Anthony Brohan and Antonin Raffin and Ayzaan Wahid and Ben Burgess-Limerick and Beomjoon Kim and Bernhard Schölkopf and Brian Ichter and Cewu Lu and Charles Xu and Chelsea Finn and Chenfeng Xu and Cheng Chi and Chenguang Huang and Christine Chan and Chuer Pan and Chuyuan Fu and Coline Devin and Danny Driess and Deepak Pathak and Dhruv Shah and Dieter Büchler and Dmitry Kalashnikov and Dorsa Sadigh and Edward Johns and Federico Ceola and Fei Xia and Freek Stulp and Gaoyue Zhou and Gaurav S. Sukhatme and Gautam Salhotra and Ge Yan and Giulio Schiavi and Hao Su and Hao-Shu Fang and Haochen Shi and Heni Ben Amor and Henrik I Christensen and Hiroki Furuta and Homer Walke and Hongjie Fang and Igor Mordatch and Ilija Radosavovic and Isabel Leal and Jacky Liang and Jaehyung Kim and Jan Schneider and Jasmine Hsu and Jeannette Bohg and Jeffrey Bingham and Jiajun Wu and Jialin Wu and Jianlan Luo and Jiayuan Gu and Jie Tan and Jihoon Oh and Jitendra Malik and Jonathan Tompson and Jonathan Yang and Joseph J. Lim and João Silvério and Junhyek Han and Kanishka Rao and Karl Pertsch and Karol Hausman and Keegan Go and Keerthana Gopalakrishnan and Ken Goldberg and Kendra Byrne and Kenneth Oslund and Kento Kawaharazuka and Kevin Zhang and Keyvan Majd and Krishan Rana and Krishnan Srinivasan and Lawrence Yunliang Chen and Lerrel Pinto and Liam Tan and Lionel Ott and Lisa Lee and Masayoshi Tomizuka and Maximilian Du and Michael Ahn and Mingtong Zhang and Mingyu Ding and Mohan Kumar Srirama and Mohit Sharma and Moo Jin Kim and Naoaki Kanazawa and Nicklas Hansen and Nicolas Heess and Nikhil J Joshi and Niko Suenderhauf and Norman Di Palo and Nur Muhammad Mahi Shafiullah and Oier Mees and Oliver Kroemer and Pannag R Sanketi and Paul Wohlhart and Peng Xu and Pierre Sermanet and Priya Sundaresan and Quan Vuong and Rafael Rafailov and Ran Tian and Ria Doshi and Roberto Martín-Martín and Russell Mendonca and Rutav Shah and Ryan Hoque and Ryan Julian and Samuel Bustamante and Sean Kirmani and Sergey Levine and Sherry Moore and Shikhar Bahl and Shivin Dass and Shuran Song and Sichun Xu and Siddhant Haldar and Simeon Adebola and Simon Guist and Soroush Nasiriany and Stefan Schaal and Stefan Welker and Stephen Tian and Sudeep Dasari and Suneel Belkhale and Takayuki Osa and Tatsuya Harada and Tatsuya Matsushima and Ted Xiao and Tianhe Yu and Tianli Ding and Todor Davchev and Tony Z. Zhao and Travis Armstrong and Trevor Darrell and Vidhi Jain and Vincent Vanhoucke and Wei Zhan and Wenxuan Zhou and Wolfram Burgard and Xi Chen and Xiaolong Wang and Xinghao Zhu and Xuanlin Li and Yao Lu and Yevgen Chebotar and Yifan Zhou and Yifeng Zhu and Ying Xu and Yixuan Wang and Yonatan Bisk and Yoonyoung Cho and Youngwoon Lee and Yuchen Cui and Yueh-hua Wu and Yujin Tang and Yuke Zhu and Yunzhu Li and Yusuke Iwasawa and Yutaka Matsuo and Zhuo Xu and Zichen Jeff Cui},
howpublished = {\url{https://arxiv.org/abs/2310.08864}},
year = {2023},
}
Open X-Embodiment Collaboration
Open X-Embodiment: Robotic Learning
Datasets and RT-X Models
Conference on Robot Learning (CoRL)
Workshop on Language and Robot
Learning (LangRob), Atlanta, the
USA, 2023
DownloadBibTeX
@misc{open_x_embodiment_rt_x_2023,
title={Open {X-E}mbodiment: Robotic Learning Datasets and {RT-X} Models},
author = {Open X-Embodiment Collaboration and Abhishek Padalkar and Acorn Pooley and Ajinkya Jain and Alex Bewley and Alex Herzog and Alex Irpan and Alexander Khazatsky and Anant Rai and Anikait Singh and Anthony Brohan and Antonin Raffin and Ayzaan Wahid and Ben Burgess-Limerick and Beomjoon Kim and Bernhard Schölkopf and Brian Ichter and Cewu Lu and Charles Xu and Chelsea Finn and Chenfeng Xu and Cheng Chi and Chenguang Huang and Christine Chan and Chuer Pan and Chuyuan Fu and Coline Devin and Danny Driess and Deepak Pathak and Dhruv Shah and Dieter Büchler and Dmitry Kalashnikov and Dorsa Sadigh and Edward Johns and Federico Ceola and Fei Xia and Freek Stulp and Gaoyue Zhou and Gaurav S. Sukhatme and Gautam Salhotra and Ge Yan and Giulio Schiavi and Hao Su and Hao-Shu Fang and Haochen Shi and Heni Ben Amor and Henrik I Christensen and Hiroki Furuta and Homer Walke and Hongjie Fang and Igor Mordatch and Ilija Radosavovic and Isabel Leal and Jacky Liang and Jaehyung Kim and Jan Schneider and Jasmine Hsu and Jeannette Bohg and Jeffrey Bingham and Jiajun Wu and Jialin Wu and Jianlan Luo and Jiayuan Gu and Jie Tan and Jihoon Oh and Jitendra Malik and Jonathan Tompson and Jonathan Yang and Joseph J. Lim and João Silvério and Junhyek Han and Kanishka Rao and Karl Pertsch and Karol Hausman and Keegan Go and Keerthana Gopalakrishnan and Ken Goldberg and Kendra Byrne and Kenneth Oslund and Kento Kawaharazuka and Kevin Zhang and Keyvan Majd and Krishan Rana and Krishnan Srinivasan and Lawrence Yunliang Chen and Lerrel Pinto and Liam Tan and Lionel Ott and Lisa Lee and Masayoshi Tomizuka and Maximilian Du and Michael Ahn and Mingtong Zhang and Mingyu Ding and Mohan Kumar Srirama and Mohit Sharma and Moo Jin Kim and Naoaki Kanazawa and Nicklas Hansen and Nicolas Heess and Nikhil J Joshi and Niko Suenderhauf and Norman Di Palo and Nur Muhammad Mahi Shafiullah and Oier Mees and Oliver Kroemer and Pannag R Sanketi and Paul Wohlhart and Peng Xu and Pierre Sermanet and Priya Sundaresan and Quan Vuong and Rafael Rafailov and Ran Tian and Ria Doshi and Roberto Martín-Martín and Russell Mendonca and Rutav Shah and Ryan Hoque and Ryan Julian and Samuel Bustamante and Sean Kirmani and Sergey Levine and Sherry Moore and Shikhar Bahl and Shivin Dass and Shuran Song and Sichun Xu and Siddhant Haldar and Simeon Adebola and Simon Guist and Soroush Nasiriany and Stefan Schaal and Stefan Welker and Stephen Tian and Sudeep Dasari and Suneel Belkhale and Takayuki Osa and Tatsuya Harada and Tatsuya Matsushima and Ted Xiao and Tianhe Yu and Tianli Ding and Todor Davchev and Tony Z. Zhao and Travis Armstrong and Trevor Darrell and Vidhi Jain and Vincent Vanhoucke and Wei Zhan and Wenxuan Zhou and Wolfram Burgard and Xi Chen and Xiaolong Wang and Xinghao Zhu and Xuanlin Li and Yao Lu and Yevgen Chebotar and Yifan Zhou and Yifeng Zhu and Ying Xu and Yixuan Wang and Yonatan Bisk and Yoonyoung Cho and Youngwoon Lee and Yuchen Cui and Yueh-hua Wu and Yujin Tang and Yuke Zhu and Yunzhu Li and Yusuke Iwasawa and Yutaka Matsuo and Zhuo Xu and Zichen Jeff Cui},
howpublished = {\url{https://arxiv.org/abs/2310.08864}},
year = {2023},
}
Chenguang Huang and Oier Mees
and Andy Zeng and Wolfram
Burgard
Audio
Visual Language
Maps for Robot Navigation
Top 15% of accepted papers Conference on Computer Vision and
Pattern Recognition (CVPR) Embodied
AI Workshop, Vancouver, British
Columbia, Canada, 2023
DownloadBibTeX
@proceeding{huang23avlmaps,
title={Audio Visual Language Maps for Robot Navigation},
author={Chenguang Huang and Oier Mees and Andy Zeng and Wolfram Burgard},
booktitle = {Proceeding of the 18th International Symposium on Experimental Robotics (ISER)},
year={2023},
address = {Chiang Mai, Thailand}
}
