Bowen Wen

I am a Senior Research Scientist at NVIDIA Research. My research areas include robotic perception, computer vision. More recently, I focus on large foundation models for 3D visual perception and learning to facilitate robotics or embodied AI. My two leading projects received the best paper award nomination at CVPR 2025 and RSS 2022. I obtained my PhD degree in Computer Science from Rutgers University in 2022, advised by Prof. Kostas Bekris. During my PhD, I've spent wonderful summers with Google[X], Meta Reality Labs, Amazon Lab 126 and SenseTime working as a research intern. Prior to my PhD, I obtained MS degree from Ohio State University in 2018 and BS degree from Xi'an Jiaotong University in 2016.

Email: wenbowenxjtu [at] gmail [dot] com

Research Interests: Robotics, Computer Vision, Artificial Intelligence

I'm always looking for self-motivated research interns and open to university collaborations. Please drop me a line if you are interested!

Industry Experience

Featured Open Source Projects

	Bowen Wen, Matthew Trepte, Joseph Aribido, Jan Kautz, Orazio Gallo, Stan Birchfield FoundationStereo: Zero-Shot Stereo Matching CVPR 2025 (🏆 Best Paper Nomination) [pdf] [code] [project page] Star Fork
	Bowen Wen, Wei Yang, Jan Kautz, Stan Birchfield FoundationPose: Unified 6d pose estimation and tracking of novel objects CVPR 2024 (Highlight) [pdf] [code] [project page] Star Fork
	Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Muller, Alex Evans, Dieter Fox, Jan Kautz, Stan Birchfield BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects CVPR 2023 [pdf] [code] [project page] [video] Star Fork
	Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, Dieter Fox *( equal contribution)** MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations CoRL 2023 [pdf] [code] [project page] Star Fork
	Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation ICRA 2022 [pdf] [code] [video] Star Fork
	Bowen Wen, Kostas E. Bekris BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models IROS 2021 [pdf] [code] [presentation video] [supplementary video] Star Fork
	Bowen Wen, Chaitanya Mitash, Baozhang Ren, Kostas Bekris se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains IROS 2020 [pdf] [code] [supplementary video] [presentation video] Star Fork

Recent Projects

	Taeyeop Lee, Bowen Wen, Minjun Kang, Gyuree Kang, In So Kweon, Kuk-Jin Yoon Any6D: Model-free 6D Pose Estimation of Novel Objects CVPR 2025 [pdf] [code] [project page] Star Fork
	Cheng-Chun Hsu, Bowen Wen , Jie Xu, Yashraj Narang, Xiaolong Wang, Yuke Zhu, Joydeep Biswas, Stan Birchfield ( project leader) SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation ICRA 2025 [pdf] [code] [project page] Star Fork
	Yijia Weng, Bowen Wen , Jonathan Tremblay, Valts Blukis, Dieter Fox, Leonidas Guibas, Stan Birchfield ( project leader) Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects CVPR 2024 [pdf] [code] [project page] Star Fork
	Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Ankur Handa, Karl Van Wyk, Dieter Fox, Gaurav S Sukhatme, Fabio Ramos, Yashraj Narang AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries RSS 2024 [pdf] [code] [project page]
	Caelan Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment CoRL 2024 [pdf] [project page]
	Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration RSS 2022 (🏆 Best Paper Nomination) [pdf] [code of tracking] [code of grasping] [video]
	Andrew Morgan, Kaiyu Hang, Bowen Wen, Kostas E Bekris, Aaron Dollar Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning IEEE Robotics and Automation Letters 2022 [pdf] [video] [news coverage]
	Junchi Liang, Bowen Wen, Kostas Bekris, Abdeslam Boularias Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations ICRA 2022 [pdf] [video]
	Andrew S. Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar, Kostas Bekris *( equal contribution)** Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks RSS 2021 [pdf] [video]
	Mitash, Chaitanya, Shome, Rahul, Wen, Bowen, Boularias, Abdeslam, Bekris, Kostas Task-driven Perception and Manipulation for Constrained Placement with No Shape Priors RA-L and IROS 2020 [pdf] [video]
	Bowen Wen, Chaitanya Mitash, Sruthi Soorian, Andrew Kimmel, Avishai Sintov, Kostas E. Bekris Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands IEEE International Conference on Robotics and Automation (ICRA) 2020 [pdf] [code] [video] Star Fork

Academic Services

Invited Chair for IROS (IEEE/RSJ International Conference on Intelligent Robots and Systems) session "Visual Tracking II" 2021
Reviewer for following conferences and journals:
- ICCV
- ECCV
- ICML
- NeurIPS
- TPAMI (IEEE Transactions on Pattern Analysis and Machine Intelligence)
- TRO (IEEE Transactions on Robotics)
- ISPRS Journal of Photogrammetry and Remote Sensing
- RAL (IEEE Robotics and Automation Letters)
- ICRA (International Conference on Robotics and Automation)
- IROS (IEEE/RSJ International Conference on Intelligent Robots and Systems)
- CoRL (Conference on Robot Learning)
- Neurocomputing