GeezerVison

GeezerVison is showing shockwavehe.github.io — Yao He

I am currently a second-year Master’s student and an incoming CS PhD student, both at Stanford. I work on computer vision and robotics. I work with Prof. Ehsan Adeli as part of the Stanford Translation AI Lab (STAI) and Stanford Vision and Learning (SVL). I also work closely with Prof. Youngjoong Kwon. I was also a member of the Toddlerbot team, advised by Prof. Shuran Song and Prof. Karen Liu.

Previously, I served as a research associate and one of the main engineers at AirLab, CMU Robotics Institute, advised by Prof. Sebastian Scherer. During my time at CMU, I was focusing on building effecient and versatile mobile robot systems that can robustly perceive and safely navigate in unstructured environments. I was also a 2021 CMU Robotics Institute Summer Scholar.

I received my Bachelor’s degree in Electronic Information Engineering from The Chinese University of Hong Kong, Shenzhen.

Research

Repurposing 2D Diffusion Models for 3D Shape Completion

Yao He, Youngjoong Kwon, Tiange Xiang, and 2 more authors

In Submission, 2026

Code Website
Feed-forward Monocular Human Performance Capture

YoungJoong Kwon, Yao He, Hee Jung Choi, and 4 more authors

In The Fourteenth International Conference on Learning Representations (ICLR), 2026

PDF Code Website
Artist-Created Mesh Generation from Raw Observation

Yao He, Youngjoong Kwon, Wenxiao Cai, and 1 more author

In International Conference on Computer Vision (ICCV) End-to-End 3D Learning workshop, 2025

PDF
Robust Visual Odometry using Rigidly-Bundled Arbitrarily-Arranged Multi-Cameras

Huai Yu, Junhao Wang, Yao He, and 2 more authors

In IEEE Robotics and Automation Letters (RA-L), 2025

PDF Code
Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids

Kaizhe Hu^*, Haochen Shi^*, Yao He, and 3 more authors

In Conference on Robot Learning (CoRL), 2025

PDF Code Website
Stem-OB: Generalizable Visual Imitation Learning with Stem-Like Convergent Observation through Diffusion Inversion

Kaizhe Hu^*, Zihang Rui^*, Yao He, and 3 more authors

In The Thirteenth International Conference on Learning Representations (ICLR, Spotlight), 2025

PDF Code Website
Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid

Parv Kapoor^*, Ian Higgins^*, Nikhil Keetha^*, and 9 more authors

In Robotics: Science and Systems (RSS), 2025

PDF Website
FIReStereo: Forest InfraRed Stereo Dataset for UAS Depth Perception in Visually Degraded Environments

Devansh Dhrafani^*, Yifei Liu^*, Andrew Jong, and 6 more authors

In IEEE Robotics and Automation Letters (RA-L), 2025

DOI PDF Code Website
FoundLoc: Vision-based Onboard Aerial Localization in the Wild

Yao He^*, Ivan Cisneros^*, Nikhil Keetha, and 6 more authors

In arXiv preprint arXiv:2310.16299 , 2023

DOI PDF Website
Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras

Yao He, Huai Yu, Wen Yang, and 1 more author

In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

PDF Video Code
Computational Efficient Simulation of Kelvin Wake for Unmanned Surface Vehicles

Yao He, Qinbo Sun, Weimin Qi, and 2 more authors

In 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2021

DOI PDF Code

Teaching and Professional Service

Teaching Assistant:

EE/CS 227 Robot Perception (Fall 2025) - Stanford
MAT2002 Ordinary Differential Equations (Spring 2022) - CUHK-Shenzhen
CSC3002 Introduction to Computer Science: Programming Paradigms (Spring 2021) - CUHK-Shenzhen
MAT1002 Calculus II (Spring 2020) - CUHK-Shenzhen
PHY1001 Mechanics (Fall 2019) - CUHK-Shenzhen

CMU MRSD Mentor: Resilient Subcanopy UAS Navigation Through Smoke for Wildfire Application (EmberEye)

Co-organized Events:

Tartan Planning Series - Spring 2023 interactive series of talks, tutorials, and learning on Robot Planning
ICCV 2023 SLAM Challenge - Multi-Robot, Multi-Degraded SLAM Challenge with TartanAir and SubT-MRS datasets

Reviewer: IJRR, RA-L, IROS, ICRA, CVPR