About

I am a 5th-year Ph.D student at Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University. My advisor is Prof. Gregory Chirikjian. I have also worked with Prof. Gregory Hager and Prof. Russ Taylor. Previously, I obtained a M.S.E in Robotics from Johns Hopkins University in 2019.

My primary research interests are on robot perception, robot learning, and robot manipulation.

Email (hwu67 at jhu dot edu)

CV (updated on 08/09/2021)
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News

2022/02–Our paper on putting a teddy bear on an unseen chair has been accepcted by ICRA 2022! Check out the paper here. For more video demos, check out our webpage.

2021/07–Our paper on probabilistic point cloud registration with local surface geometry has been accepted to ICCV 2021! Check out the paper here. Code is available here. Data will be available later.

2020/11–Our paper on robot imagination of containability affordance has been accepted to RA-L! Paper link here. Code is available here. Data can be download from here.

2020/07–Our paper on efficient reinforcement learning has been accepted to RA-L and IROS 2020. Paper link here. It is featured on JHU HUB. Check it out!

2020/01–Our paper on robot imagination of chair affordance has been accepted to ICRA 2020. Paper link here.

Publications

* indicates equal contribution.

Pre-print

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• Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks
  Hongtao Wu*, Jikai Ye*, Xin Meng, Chris Paxton, Gregory Chirikjian
  [arxiv] [webpage] [video]

Journals & Conferences

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• Put the Bear on the Chair! Intelligent Robot Interaction with Previously Unseen Objects via Robot Imagination
  Hongtao Wu, Xin Meng, Sipu Ruan, Gregory Chirikjian
  Accepted to ICRA 2022
  [arxiv] [webpage] [video]

• LSG-CPD: Coherent Point Drift with Local Surface Geometry for Point Cloud Registration
  Weixiao Liu, Hongtao Wu, Greogry Chirikjian
  International Conference on Computer Vision (ICCV) 2021
  [arxiv] [code] [paper] [supplementary]

• Can I Pour into It? Robot Imagining Open Containability Affordance of Previously Unseen Objects via Physical Simulations
  Hongtao Wu, Greogry Chirikjian
  IEEE Robotics and Automation Letter (RA-L)
  IEEE International Conference on Robotics and Automation (ICRA) 2021
  Finalist for Best Paper Award in Human-Robot Interaction (HRI)
  [arxiv] [paper] [webpage] [video] [code] [data]

• “Good Robot!”: Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer
  Andrew Hundt, Benjamin Killeen, Nicholas Greene, Hongtao Wu, Heeyeon Kwon, Chris Paxton, Gregory Hager
  IEEE Robotics and Automation Letter (RA-L)
  IEEE International Conference on Intelligent Robots and Systems (IROS) 2020
  [arxiv] [paper] [video] [code]

• Is That a Chair? Imagining Affordances Using Simulations of an Articulated Human Body
  Hongtao Wu, Deven Misra, Gregory Chirikjian
  IEEE International Conference on Robotics and Automation (ICRA) 2020
  [arxiv] [paper] [webpage] [video]

• Multi-mosquito object detection and 2D pose estimation for automation of PfSPZ malaria vaccine production
  Hongtao Wu, Jiteng Mu, Ting Da, Mengdi Xu, Russell Taylor, Iulian Iordachita, Gregory Chirikjian
  IEEE International Conference on Automation Science and Engineering (CASE) 2019
  [paper]