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Yufei (Judy) Ye 叶雨菲
I am a Postdoctoral Scholar in The Movement Lab (TML) at Stanford, working with Karen Liu.
I obtained my Ph.D. from Carnegie Mellon University, advised by Shubham Tulsiani and Abhinav Gupta.
Prior to CMU, I received my B.S. in Computer Science from Tsinghua University, where I worked with Shi-Min Hu and Yankui Sun.
I have also spent wonderful summers at NVIDIA LPR with Sifei Liu and Xueting Li, at FAIR with Kris Kitani, and at MPI-PS with Michael Black.
My research focuses on understanding and replicating human dexterity during interactions—both in the digital world (AR/VR) and in the physical world (robotics and biomechanics).
Specifically, I study how to recover and generate humans interacting with their surroundings from raw sensor data such as images, videos, and wearable signals:
how to accurately perceive interactions, discover their patterns, and enable agents to actively interact with the world.
Email /
CV /
Google Scholar /
Github /
Twitter
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News
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June 2025: Co-organize two workshops at CVPR2025: 4DVision Workshop, all day on June 11th, and Agents In Interaction, from Human to Robots, all-day on June 12th. Come and check out our amazing program!
August 2024: PhD Defended!
June 2024: Co-organize a workshop MANGO at CVPR2024.
June 2024: I gave a talk at Visual Computing and Artificial Intelligence, MPI.
April 2024: Started visiting at MPI-PS, Tuebingen with Michael Black.
News History
Dec 2023: I gave a talk at GRASP Seminar, UPenn.
Nov 2023: Selected into EECS Rising Stars workshop.
June 2023: Presented at 3 workshops (4DHOI, 3D Scene Understanding, and RHOBIN) in CVPR2023.
Oct 2023: I gave a talk at Scene from Video workshop, MIT.
May 2023: I gave a talk at VGG, Oxford.
April 2023: Proposed my thesis! PhD student life counting down.
April 2023: I gave a talk at Scene Representation Group .
Sept 2022: Received NVIDIA Graduate Fellowship (2022-2023).
June 2022: Presented at workshop EGO4D-EPIC in CVPR2022.
June 2022: I gave a talk at IVG@SZ, Tsinghua.
Nov 2019: I gave a talk at Energy Efficient Computing Group
, Tsinghua.
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HEAD: Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
Sirui Chen*, Yufei Ye*, Zi-Ang Cao*, Jennifer Lew, Pei Xu, C. Karen Liu, (* indicates equal contribution)
CoRL 2025
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Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions
Hongyi Chen*, Yunchao Yao*, Yufei Ye, Zhixuan Xu, Homanga Bharadhwaj, Jiashun Wang, Shubham Tulsiani, Zackory Erickson, Jeffrey Ichnowski
arXiv 2025
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HaPTIC: Predicting 4D Hand Trajectory from Monocular Videos
Yufei Ye, Yao Feng, Omid Taheri, Haiwen Feng, Shubham Tulsiani*, Michael J. Black* (* indicates equal contribution)
3DV 2026
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St4RTrack: Simultaneous 4D Reconstruction and Tracking in the World
Haiwen Feng*, Junyi Zhang*, Qianqian Wang, Yufei Ye, Pengcheng Yu, Michael J. Black, Trevor Darrell, Angjoo Kanazawa
ICCV 2025
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PuzzleAvatar: Assembling 3D Avatars from Personal Albums
Yuliang Xiu,
Yufei Ye,
Zhen Liu,
Dimitrios Tzionas,
Michael J. Black
SIGGRAPH Asia 2024
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G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesis
Yufei Ye,
Abhinav Gupta,
Kris Kitani,
Shubham Tulsiani
CVPR 2024
Invited to CVPR workshop RHOBIN
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Diffusion-Guided Reconstruction of Everyday Hand-Object Interaction Clips
Yufei Ye,
Poorvi Hebbar,
Abhinav Gupta,
Shubham Tulsiani
ICCV , 2023
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Affordance Diffusion: Synthesizing Hand-Object Interactions
Yufei Ye,
Xueting Li,
Abhinav Gupta,
Shalini De Mello,
Stan Birchfield,
Jiaming Song,
Shubham Tulsiani,
Sifei Liu
CVPR, 2023
Invited to 3 CVPR workshops (4DHOI, 3D Scene Understanding, and RHOBIN)
Appearance in NVIDIA GTC
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What's in your hands? 3D Reconstruction of Generic Objects in Hands
Yufei Ye,
Abhinav Gupta,
Shubham Tulsiani
CVPR, 2022
Invited to CVPR workshop EGO4D-EPIC
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Shelf-Supervised Mesh Prediction in the Wild
Yufei Ye,
Shubham Tulsiani,
Abhinav Gupta
CVPR, 2021
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Object-centric Forward Modeling for Model Predictive Control
Yufei Ye,
Dhiraj Gandhi,
Abhinav Gupta,
Shubham Tulsiani
CoRL, 2019
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Compositional Video Prediction
Yufei Ye,
Maneesh Singh,
Abhinav Gupta*,
Shubham Tulsiani*
ICCV, 2019 (* indicates equal contribution)
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Zero-shot Recognition via Semantic Embeddings and Knowledge Graphs
Xiaolong Wang*
Yufei Ye*,
Abhinav Gupta
CVPR, 2018 (* indicates equal contribution)
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Practical automatic background substitution for live video
Haozhi Huang, Xiaonan Fang, Yufei Ye, Songhai Zhang, and Paul L. Rosin.
Computational Visual Media (CVM), 2017
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Locating Abnormality in OCT Images with Image-level Annotation
Yufei Ye,
Yankui Sun
Graduate Thesis, 2017
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Reading: Differential Geometry
Erwin Kreyszig
notes / summary, 2020
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Reading: Multiple View Geometry in Computer Vision
Richard Hartley, Andrew Zisserman
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exercise
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'TP-Link': a data explorer of the Hacker News data
Yufei Ye*, Dongyu Jiang*, Lin Luo*, Xi Luo*, and Haoyue Shi*.
Google Girl Hackathon, 2017 (User Experience Award)
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Somatic Game with RGB Hand Detector from scratch.
Yufei Ye*, Binghong Chen*, and Jianxin Ma*.
Digital Logic Design, 2016 (Best Course Project)
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Media Player on Cubieboard: Transparenting Android Bluetooth Protocols Stack for Car
Yufei Ye*, Binghong Chen*, and Jianxin Ma*.
Intro to Software Engineering, 2016 (Best Course Project)
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Selected Awards
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I am very fortunate to receive recognition along the way:
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EECS Rising Stars (2023);
NVIDIA Graduate Fellowship (2022-2023);
Excellent Undergraduate Student by Tsinghua University (2017);
Outstanding Undergraduate Student by Tsinghua Computer Science Dept (2017);
TP-Link Scholarship (2017);
Singapore Technologies Engineering China Scholarship (2015, 2016, and 2017);
National Scholarship, by the Ministry of Education of China (2014);
Sports Outstanding Award, by Tsinghua Computer Science Dept (2014, 2016, and 2017);
Student service Excellence Award, by Tsinghua University (2016);
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Misc
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Besides research, I’m passionate about music and sports! I played violin with the All University Orchestra (AUO) at CMU and the Tsinghua University Symphony Orchestra (TUSO), and recently picked up the guitar. I’m also an (inactive) member of the Stanford Badminton Club. Before that, I played for and served as coach of the CMU Badminton Team, and was captain of the Tsinghua Badminton Team. Here’s a fun CV about the other slices of my life.
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