Ziwei Wang

Ziwei Wang is currently an assistant professor in School of Electrical and Electronic Engineering, Nanyang Technological University. Before joining NTU, he was a postdoc fellow in Robotics Institute, Carnegie Mellon University, with Prof. Changliu Liu. He received the Ph.D and the B.S degrees from the Department of Automation, Tsinghua University in 2023 and the Department of Physics, Tsinghua University in 2018 respectively. His research goal is to design foundation models (FMs) for robotics including grounding FMs to the physical scene and deploying FMs in resource-limited robots. He has published over 30 scientific papers in TPAMI, IJCV, RAL, CVPR, ICCV, ECCV, NeurIPS, IROS and ICRA. He serves as a regular reviewer member for a variety of conferences and journals.

I am looking for self-motivated PhD/Postdoc/Master/research assistant. If you are interested in joining our lab, please drop me an email at ziwei.wang@ntu.edu.sg with your CV.

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News

  • 2024-09: I am invited to give a talk in Recent Advances in Video Content Understanding and Generation Tutorial at ECCV 2024.
  • 2024-09: One paper is accepted to NeurIPS 2024.
  • 2024-07: Two papers are accepted to ECCV 2024.
  • 2024-06: Our Perception and embodied INtElligence (PINE) Lab is established.
  • 2024-05: One paper is accepted to RAL.
  • 2024-05: One paper is accepted to IJCV.
  • 2024-02: Three papers are accepted to CVPR 2024.
  • 2024-02: One paper is accepted to TIP.
  • 2023-10: One paper is accepted to TPAMI.

  • Recent Works
    dise EmbodiedSAM: Online Segment Any 3D Thing in Real Time
    Xiuwei Xu, Huangxing Chen, Linqing Zhao, Ziwei Wang, Jie Zhou, Jiwen Lu
    Arxiv, 2024
    [PDF] [Website] [Code] [Video]

    We propose an online Segment Anything Model for real-time 3D instance segmentation to process the streaming RGB-D videos acquired in diverse embodied tasks.

    dise Embodied Instruction Following in Unknown Environments
    Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Jiwen Lu, Haibin Yan
    Arxiv, 2024
    [PDF] [Website] [Code and Dataset (coming soon)]

    Our embodied agent efficiently explores the unknown environment to generate feasible plans with existing objects to accomplish abstract instructions. which can complete complex human instructions such as making breakfast, tidying bedrooms and cleaning bathrooms in house-level scenes.

    dise ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation
    Guanxing Lu, Zifeng Gao, Tianxing Chen, Wenxun Dai, Ziwei Wang, Yansong Tang
    Arxiv, 2024
    [PDF] [Website] [Code]

    We propose a real-time robotic manipulation model that imposes the consistency constraint to the diffusion process, so that the model can generate robot actions in only one-step inference with high success rate. We achieve 16ms average runtime for 3D diffusion policy generation.

    Selected Publications

    * means equal contribution
    † means corresponding author
    dise Q-VLM: Post-training Quantization for Large Vision-Language Models
    Changyuan Wang, Ziwei Wang, Xiuwei Xu, Yansong Tang, Jie Zhou, Jiwen Lu
    Thirty-eighth Conference on Neural Information Processing Systems (NeurIPS), 2024.
    [PDF] [Supp] [Code]
    dise ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation
    Guanxing Lu, Shiyi Zhang, Ziwei Wang, Changliu Liu, Jiwen Lu, Yansong Tang
    European Conference on Computer Vision (ECCV), 2024
    [PDF] [Code] [Website]
    dise 3D Small Object Detection with Dynamic Spatial Pruning
    Xiuwei Xu*, Zhihao Sun*, Ziwei Wang, Hongming Liu, Jie Zhou, Jiwen Lu
    European Conference on Computer Vision (ECCV), 2024
    [PDF] [Code] [Website]
    dise StableLego: Stability Analysis of Block Stacking Assembly
    Ruixuan Liu, Kangle Deng, Ziwei Wang, Changliu Liu
    IEEE Robotics and Automation Letters (RAL), 2024
    [PDF] [Code and Dataset]

    dise Learning Generalizable Mixed-Precision Quantization via Attribution Imitation
    Ziwei Wang, Han Xiao, Jie Zhou, Jiwen Lu
    International Journal of Computer Vision (IJCV), 2024.
    [PDF] [Code]
    dise Towards Accurate Data-free Quantization for Diffusion Models
    Changyuan Wang, Ziwei Wang, Xiuwei Xu, Yansong Tang, Jie Zhou, Jiwen Lu
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR, Highlight), 2024.
    [PDF] [Supp] [Code]
    dise Memory-based Adapters for Online 3D Scene Perception
    Xiuwei Xu*, Chong Xia*, Ziwei Wang, Linqing Zhao, Yueqi Duan, Jie Zhou, Jiwen Lu
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
    [PDF] [Code] [Website]
    dise MCUFormer: Deploying Vision Transformers on Microcontrollers with Limited Memory
    Yinan Liang, Ziwei Wang, Xiuwei Xu, Yansong Tang, Jie Zhou, Jiwen Lu
    Thirty-seventh Conference on Neural Information Processing Systems (NeurIPS), 2023.
    [PDF] [Supp] [Code]
    dise Learning Accurate Performance Predictors for Ultrafast Automated Model Compression
    Ziwei Wang, Jiwen Lu, Han Xiao, Shengyu Liu, Jie Zhou
    International Journal of Computer Vision (IJCV), 2023.
    [PDF] [Code]
    dise Category-level Shape Estimation for Densely Cluttered Objects
    Zhenyu Wu, Ziwei Wang, Jiwen Lu, Haibin Yan
    IEEE International Conference on Robotics and Automation (ICRA), 2023.
    [PDF] [Code]
    dise Quantformer: Learning Extremely Low-precision Vision Transformers
    Ziwei Wang, Changyuan Wang, Xiuwei Xu, Jie Zhou, Jiwen Lu
    IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2022.
    [PDF] [Supp] [Code]
    dise Planning Irregular Object Packing via Hierarchical Reinforcement Learning
    Sichao Huang, Ziwei Wang, Jie Zhou, Jiwen Lu
    IEEE Robotics and Automation Letters (RAL), 2022
    [PDF] [Robot Demo] [Simulation Demo] [Code]

    dise Smart Explorer: Recognizing Objects in Dense Clutter via Interactive Exploration
    Zhenyu Wu*, Ziwei Wang*, Zibu Wei, Yi Wei, Haibin Yan
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
    [PDF] [Demo] [Code]

    dise GE-Grasp: Efficeint Target Oriented Grasping in Dense Clutter
    Zhan Liu, Ziwei Wang, Sichao Huang, Jie Zhou, Jiwen Lu
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
    [PDF] [Demo] [Code]

    dise Shapley-NAS: Discovering Operation Contribution for Neural Architecture Search
    Han Xiao, Ziwei Wang, Zheng Zhu, Jie Zhou, Jiwen Lu
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.
    [PDF] [Supplement] [Code]

    dise Learning Efficient Binarized Object Detectors with Information Compression
    Ziwei Wang, Jiwen Lu, Ziyi Wu, Jie Zhou
    IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2022.
    [PDF] [Supplement] [Code]

    dise Generalizable Mixed-Precision Quantization via Attribution Rank Preservation
    Ziwei Wang, Han Xiao, Jiwen Lu, Jie Zhou
    IEEE International Conference on Computer Vision (ICCV), 2021.
    [PDF] [Supplement] [Code]

    dise BiDet: An Efficient Binarized Object Detector
    Ziwei Wang, Ziyi Wu, Jiwen Lu, Jie Zhou
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2020
    [PDF] [Code]

    dise Learning Channel-wise Interactions for Binary Convolutional Neural Networks
    Ziwei Wang, Jiwen Lu, Chenxin Tao, Jie Zhou
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019
    [PDF] [Code]
    Honors and Awards

  • 2023 Outstanding Doctoral Dissertation of Tsinghua University
  • 2022 National Scholarship
  • 2020 National Scholarship
  • 2018 Chi-Sun Yeh Scholarship
  • 2016 Qualcomm Scholarship
  • Academic Services

  • Conference Reviewer: CVPR, ICCV, ECCV, NeurIPS, ICML, ICLR, ICRA, IROS, CoRL
  • Journal Reviewer: T-PAMI, T-IP, T-CSVT, T-NNLS, T-IV, R-AL, Pattern Recognition, Journal of Field Robotics

  • © Ziwei Wang | Last update: July. 2, 2024


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