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Bowen Wen I am a Staff 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, Shaurya Dewan, Stan Birchfield
Fast-FoundationStereo: Real-Time Zero-Shot Stereo Matching
CVPR 2026
[pdf] [code] [project page]

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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]

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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]

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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]

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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]

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Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
ICRA 2022
[pdf] [code] [video]

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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]

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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]

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Recent Projects

Xianghui Xie, Bowen Wen , Yan Chang, Hesam Rabeti, Jiefeng Li, Ye Yuan, Gerard Pons Moll, Stan Birchfield ( project lead)
CARI4D: Category Agnostic 4D Reconstruction of Human-Object Interaction
CVPR 2026
[pdf] [code] [project page]

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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]

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Cheng-Chun Hsu, Bowen Wen , Jie Xu, Yashraj Narang, Xiaolong Wang, Yuke Zhu, Joydeep Biswas, Stan Birchfield ( project lead)
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
ICRA 2025
[pdf] [code] [project page]

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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]

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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]

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