Chenrui Tie (铁宸睿)
I am a first-year Ph.D. student in the School of Computing, National University of Singapore,
supervised by Prof. Lin Shao.
Before this, I received my B.S. degree from School of EECS, Peking University in 2024.
In my undergraduate study, I am privileged to work with Prof. Hao Dong and Prof. He Wang.
It's worth mentioning that before I study computer science, I majored in physics.
My research focuses on constructing models by incorporating varying degrees of
physics intuitions based on the specific characteristics of different robot manipulation tasks,
so that the robot can more efficiently complete a variety of manipulation tasks in the physical world.
Email: chenrui.tie [at] u.nus.edu
Email  / 
Github  / 
Google Scholar
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Publications      (* denotes equal contribution)
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ET-SEED: Efficient Trajectory-level SE(3) Equivariant Diffusion Policy
Chenrui Tie*, Yue Chen*, Ruihai Wu*, Boxuan Dong, Zeyi Li, Chongkai Gao†, Hao Dong†
CoRL 2024 Workshop X-Embodiment Robot Learning
[paper]
[project page]
We propose a new diffusion policy method to tackle tasks with certain symmetry,
achieving better data efficiency and spatial generalization.
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EqvAfford: SE (3) Equivariance for Point-Level Affordance Learning
Yue Chen*, Chenrui Tie*, Ruihai Wu*, Hao Dong
CVPR 2024 Workshop EquiVision
[paper]
We propose EqvAfford framework, with novel designs to guarantee the SE(3)
equivariance in point-level affordance learning for downstream robotic manipulation.
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ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robots
Zhixuan Xu*, Chongkai Gao*, Zixuan Liu*, Gang Yang*, Chenrui Tie, Haozhuo Zheng, Haoyu Zhou, Weikun Peng, Debang Wang, Tianyi Chen, Zhouliang Yu, Lin Shao
IROS 2024(Oral)
[paper]
[project page]
We Introduce a framework taking contact synthesis as a unified task representation that can generalizes over objects, robots, and manipulation tasks.
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Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact
Gang Yang, Siyuan Luo, Yunhai Feng, Zhixin Sun, Chenrui Tie, Lin Shao
ICRA 2024
[paper]
[project page]
We developed Jade, a differentiable physics engine
for articulated rigid bodies, using the continuous collision
detection to prevent intersection between bodies with complex geometry shapes.
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Leveraging SE(3) Equivariance for Learning 3D Geometric Shape Assembly
Ruihai Wu*,
Chenrui Tie*,
Yushi Du,
Yan Zhao,
Hao Dong
ICCV 2023
[paper]
[project page]
We tackle multi-part geometrically assembly task, leveraging SE(3) equivariance and invariance,
which fits the natural characteristic of the task and narrows the solution space.
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National University of Singapore, Singapore
Aug 2024 - Present, Ph.D. Student, School of Computing
Peking University, Beijing, China
Sept 2021 - June 2024, Undergraduate Student, Department of Intelligent Science
- Advisor: Prof. Hao Dong, Prof. He Wang
- Lab: Hyperplane Lab and Epic Lab, Center on Frontiers of Computing Studies
Peking University, Beijing, China
Sept 2019 - June 2021, Undergraduate Student, School of Physics
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Reviewer
- International Conference on Robotics and Automation (ICRA)
- Robotics and Automation Letters (RA-L)
- International Conference on Learning Representations (ICLR)
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Last update: Nov, 2024
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