Bowen Wen

I am a research scientist at NVIDIA Research. My research areas include robotic perception, computer vision. Specifically, I work on 3D visual perception and learning to facilitate robotic manipulations. 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], Facebook Reality Labs, Amazon Lab 126 and SenseTime working as a research intern. Previously, I obtained MS degree in ECE from Ohio State University in 2018 and BS degree in Energy and Automation from Xi'an Jiaotong University in 2016.

Email: wenbowenxjtu [at] gmail [dot] com

Research Interests: Robotics, Computer Vision, Artificial Intelligence

Industry Experience


Selected Publications

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] [project page] [video]
Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
RSS 2022
Best Paper Award nomination
[pdf] [code of tracking] [code of grasping] [video]
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

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]
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

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]
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

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

Andrew Kimmel, Avishai Sintov, Juntao Tan, Bowen Wen, Abdeslam Boularias, Kostas Bekris
Belief-Space Planning Using Learned Models With Application To Underactuated Hands
International Symposium on Robotics Research (ISRR) 2019
[pdf] [video]
Chaitanya Mitash, Bowen Wen, Kostas Bekris, Abdeslam Boularias
Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects
Conference on Robot Learning (CoRL) 2019
[pdf] [code] [video]
Bowen Wen, Sukru Yaren Gelbal, Bilin Aksun Guvenc, Levent Guvenc
Localization and Perception for Control and Decision-Making of a Low-Speed Autonomous Shuttle in a Campus Pilot Deployment.
SAE International Journal of Connected and Automated Vehicles 2018
[pdf] [code] [video]

Star Fork

Academic Services

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