Kai Chen's Homepage

Kai Chen

Department of Computer Science and Engineering
The Chinese University of Hong Kong
Office: Room 1024, Ho Sin-Hang Engineering Building
Email: kaichen [at] cse.cuhk.edu.hk

Short Bio

I am currently working as a postdoctoral research fellow with Prof. Qi Dou at the CSE, CUHK. I have received my Ph.D. degree from the Department of Computer Science and Engineering, The Chinese University of Hong Kong, supervised by Prof. Qi Dou. Previously, I received the B. Eng. degree and M. Eng. degree from Wuhan University, under the supervison from Prof. Jian Yao.

My research interest lies in 3D vision, object-centric perception and policy learning for robot manipulation.

Recent Publications

(* denotes equal contribution and ^† denotes the corresponding author)

	Geometry-Guided Modeling of Foundation Features Enables Generalizable Object Shape Deformation Learning Yiyao Ma, Kai Chen, Zhongxiang Zhou, Zhuheng Song, Dongsheng Xie, Zelong Tan, Rong Xiong, Qi Dou. The International Conference on Machine Learning (ICML), 2026. [paper] [project]
	A Retrieval-augmented Framework Enabling VLM Spatial Awareness for Object-centric Robot Manipulation Kai Chen, Chengkun Li, Chang Tu, Jiahui Pan, Yiyao Ma, Wei Chen, Zhongxiang Zhou, Xuecheng Xu, Stephen James, Chi-Wing Fu, Rong Xiong, Pieter Abbeel, Yun-Hui Liu, Qi Dou. Science Robotics, 2026. [paper] [project]
	Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generation Yiyao Ma, Kai Chen^†, Kexin Zheng, Qi Dou. Conference on Neural Information Processing Systems (NeurIPS), 2025. [paper] [project]
	Gaussian Splatting with Reflectance Regularization for Endoscopic Scene Reconstruction Chengkun Li, Kai Chen, Shi Qiu, Jason Ying-Kuen Chan, Qi Dou. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. [paper] [project]
	ColaDex: Contact-guided Optimization and VLM-assisted Selection for Task-oriented Dexterous Grasp Generation Yiyao Ma, Kai Chen, Xuecheng Xu, Zhongxiang Zhou, Liang Xie, Rong Xiong, Qi Dou. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. [paper] [project]
	Canonical Shape Reconstruction with SE(3) Equivariance Learning for Weakly-Supervised Object Pose Estimation Jun Zhou, Kai Chen^†, Mingqiang Wei, Xiao-Ping Zhang, Qi Dou, Jing Qin. IEEE Transactions on Circuits and Systems for Video Technology, 2025. [paper] [project]
	DIH-Tele: Dexterous In-Hand Teleoperation Framework for Learning Multi-Object Manipulation with Tactile Feedback Junda Huang, Kai Chen, Jianshu Zhou, Xingyu Lin, Pieter Abbeel, Qi Dou, Yun-Hui Liu. IEEE/ASME Transactions on Mechatronics, 2025. [paper]
	Vision Foundation Model Enables Generalizable Object Pose Estimation Kai Chen, Yiyao Ma, Xingyu Lin, Stephen James, Jianshu Zhou, Yun-Hui Liu, Pieter Abbeel, Qi Dou. Conference on Neural Information Processing Systems (NeurIPS), 2024. [paper] [project]
	Shape-guided Configuration-aware Learning for Endoscopic-image-based Pose Estimation of Flexible Robotic Instruments Yiyao Ma, Kai Chen, Hon-Sing Tong, Ruofeng Wei, Yui-Lun Ng, Ka-Wai Kwok, Qi Dou. European Conference on Computer Vision (ECCV), 2024. [paper] [project]
	RGBManip: Monocular Image-based Robotic Manipulation through Active Object Pose Estimation Boshi An, Yiran Geng, Kai Chen, Xiaoqi Li, Qi Dou, Hao Dong. IEEE International Conference on Robotics and Automation (ICRA), 2024.* [paper] [project]
	Value-Informed Skill Chaining for Policy Learning of Long-Horizon Tasks with Surgical Robot Tao Huang, Kai Chen, Wang Wei, Jianan Li, Yonghao Long, Qi Dou. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. [paper] [project]
	Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot Tao Huang, Kai Chen, Bin Li, Yun-Hui Liu, Qi Dou. IEEE International Conference on Robotics and Automation (ICRA), 2023. [paper] [project]
	Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose Estimation Jun Zhou, Kai Chen, Linlin Xu, Qi Dou, Jing Qin. IEEE/CVF International Conference on Computer Vision (ICCV), 2023. [paper] [project]
	StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCS Kai Chen, Stephen James, Congying Sui, Yun-Hui Liu, Pieter Abbeel, Qi Dou. IEEE International Conference on Robotics and Automation (ICRA), 2023. [paper] [project]
	Sim-to-Real 6D Object Pose Estimation via Iterative Self-training for Robotic Bin Picking Kai Chen, Rui Cao, Stephen James, Yichuan Li, Yun-Hui Liu, Pieter Abbeel, Qi Dou. European Conference on Computer Vision (ECCV), 2022. [paper] [project]
	SGPA: Structure-Guided Prior Adaptation for Category-Level 6D Object Pose Estimation Kai Chen, Qi Dou. IEEE/CVF International Conference on Computer Vision (ICCV), 2021. (Oral) [paper] [project]
	Category-level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networks Jiaze Wang, Kai Chen, Qi Dou. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. [paper] [project]
	Learning Icosahedral Spherical Probability Map based on Bingham Mixture Model for Vanishing Point Estimation Haoang Li, Kai Chen, Pyojin Kim, Kuk-Jin Yoon, Zhe Liu, Kyungdon Joo, Yun-Hui Liu. IEEE/CVF International Conference on Computer Vision (ICCV), 2021. [paper]
	Learning to Identify Correct 2D-2D Line Correspondences on Sphere Haoang Li, Kai Chen, Ji Zhao, Jiangliu Wang, Pyojin Kim, Zhe Liu, Yun-Hui Liu. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021. [paper]
	CLMM-Net: Robust Cascaded LiDAR Map Matching based on Multi-Level Intensity Map Kai Chen, Lei He, Xiaofeng Wang, Yuqian Liu, Ming Zhao. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. [paper]
	Vanishing Point Guided Natural Image Stitching Kai Chen, Jian Yao, Jingmin Tu, Yahui Liu, Yinxuan Li, Li Li. arXiv preprint arXiv:2004.02478, 2020. [paper]

Miscellaneous

Professional Activities

Conference Reviews:

International Conference on Computer Vision (ICCV).
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR).
European Conference on Computer Vision (ECCV).
International Conference on Robotics and Automation (ICRA).
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Journal Reviews:

IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI).
IEEE Transactions on Image Processing (TIP).
IEEE Transactions on Multimedia (TMM).
IEEE Transactions on Robotics (T-RO).
IEEE Transactions on Neural Networks and Learning Systems (TNNLS).
IEEE Robotics and Automation Letters (RA-L)