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<!DOCTYPE html>
<html>
<head>
<title>Tsung-Wei Ke</title>
<!-- Meta tags -->
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<!-- Bootstrap CSS -->
<link href="css/bootstrap.min.css" rel="stylesheet">
<!-- Custom Styles -->
<style>
body {
font-family: Roboto, 'sans-serif';
font-size: 16px;
background-color: #FFFFFF;
color: #4F6071;
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h1 {
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</style>
</head>
<body>
<div id='header'>
<div class='container'>
<div class='row'>
<div class="col-sm-3 offset-sm-1">
<img src='img/profile.png' class='img-fluid' id='portrait'>
</div>
<div class="col">
<div id='header-text-name'>
Tsung-Wei Ke
</div>
<div id='header-text-title'>
Assistant Professor
<!-- Principal investigator, Embodied Artificial Intelligence Lab -->
</div>
<div id='header-text-affiliation'>
NTU Department of <a href="https://www.csie.ntu.edu.tw">Computer Science</a>
</div>
<div id='head-text-title'>
<br>
I am an Assistant Professor at NTU CSIE, where I am leading the Embodied Artificial Intelligence Lab.
Before joining NTU, I spent two years as a postdoc at CMU MLD, working with <a href="https://www.cs.cmu.edu/~katef/">Katerina Fragkiadaki</a>.
During 2018-2022, I have closely worked with <a href="https://web.eecs.umich.edu/~stellayu/">Stella Yu</a> for my Ph.D at UC Berkeley VS Program.
</div>
<div id='header-text-email'>
twke (at) csie (dot) ntu (dot) edu (dot) tw
</div>
<div>
<a href="https://embodiedai-ntu.github.io/index.html">[Embodied AI Lab]</a>
<a href="https://scholar.google.com/citations?user=WTEFsHMAAAAJ&hl=en&oi=ao">[Google Scholar]</a>
<a href="https://github.com/twke18">[GitHub]</a>
<a href="pdfs/cv.pdf">[Download CV]</a>
</div>
</div>
</div>
</div>
</div>
<div class='container'>
<div class='row vspace-top'>
<div class='col offset-sm-1'>
<h1>Research</h1>
I am interested in the trio of action, perception, and cognition. More particularly, I have been hoping
to build machines that perceives to recognize the real world, understands the (physical) outcomes of their
actions, explores novel complex behaviors, and learns/plans to achieve goals. I am fascinated by the
animal beings that generalize and explore so successfully (see <a href="https://en.wikipedia.org/wiki/Moravec%27s_paradox">Moravec's Paradox</a>).
<div class='vspace-top'>
<h5>Prospective students</h5>
I am looking for Ph.D/master/undergraduate students interested in robot learning, computer vision and
machine learning. If you are a undergraduate at NTU, interested in research positions, please fill in
this <a href="https://forms.gle/W7rSPF9cM3C5jaZV8">form</a>. If you are interested in Mater/Doctoral
research positions, please fill in this <a href="https://forms.gle/JxzbmXpEAPqp6jkf8">form</a>.
</div>
<div class='vspace-top'>
<h1>Teaching</h1>
</div>
<a href="https://ntu-rpl.github.io/">CSIE5117: Robot Perception and Learning</a> Fall 2024, 2025<br>
<a href="https://ntu-ev.github.io/">CSIE5421: Embodied Vision</a> Spring 2025, 2026
<div class='vspace-top'>
<h1>Publications</h1>
</div>
<!-- CRONOS -->
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/cronos_arxiv.jpg' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
CRONOS: Benchmarking Multi-Task Robotic Manipulation for Reset-Free Reinforcement Learning At Scale
</div>
<div class='paper-desc'>
Under review
</div>
<div class='paper-authors'>
Po-Yi Wu*, Djengo Cyun-Jyun Fang*, Dian Cheng, Tsung-Wei Ke
</div>
<div>
<a href="">[Arxiv]</a>
<a href="https://github.com/EmbodiedAI-NTU/CRONOS">[Code]</a>
<a href="https://embodiedai-ntu.github.io/cronos/index.html">[Project]</a>
</div>
</div>
</div>
<!-- COT-FM -->
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/cotfm_cvpr2026.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
COT-FM: Cluster-wise Optimal Transport Flow Matching
</div>
<div class='paper-desc'>
CVPR 2026
</div>
<div class='paper-authors'>
Chiensheng Chiang*, Kuan-Hsun Tu*, Jia-Wei Liao*, Cheng-Fu Chou, Tsung-Wei Ke
</div>
<div>
<a href="https://arxiv.org/abs/2603.13395">[Arxiv]</a>
<a href="https://github.com/EmbodiedAI-NTU/COT-FM">[Code]</a>
<a href="https://embodiedai-ntu.github.io/cotfm/index.html">[Project]</a>
</div>
</div>
</div>
<!-- DexMan -->
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/dexman.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
DexMan: Learning Bimanual Dexterous Manipulation from Human and Generated Videos
</div>
<div class='paper-desc'>
Arxiv
</div>
<div class='paper-authors'>
Jhen Hsieh, Kuan-Hsun Tu, Kuo-Han Hung, Tsung-Wei Ke
</div>
<div>
<a href="https://arxiv.org/abs/2510.08475">[Arxiv]</a>
<a href="https://github.com/EmbodiedAI-NTU/DexMan">[Code]</a>
<a href="https://embodiedai-ntu.github.io/dexman/index.html">[Project]</a>
</div>
</div>
</div>
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/infoseeker_arxiv.jpg' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
Information Seeking for Robust Decision Making under Partial Observability
</div>
<div class='paper-desc'>
Arxiv
</div>
<div class='paper-authors'>
Djengo Cyun-Jyun Fang, Tsung-Wei Ke
</div>
<div>
<a href="https://arxiv.org/abs/2510.01531">[Arxiv]</a>
<a href="https://github.com/InfoSeekerLLM/InfoSeeker">[Code]</a>
<a href="https://infoseekerllm.github.io/">[Project]</a>
</div>
</div>
</div>
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/spf_corl2025.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
See, Point, Fly: A Learning-Free VLM Framework for Universal Unmanned Aerial Navigation
</div>
<div class='paper-desc'>
CoRL 2025
</div>
<div class='paper-authors'>
Chih Yao Hu*, Yang-Sen Lin*, Yuna Lee, Chih-Hai Su, Jie-Ying Lee, Shr-Ruei Tsai, Chin-Yang Lin, Kuan-Wen Chen, Tsung-Wei Ke, Yu-Lun Liu
</div>
<div>
<a href="https://arxiv.org/abs/2509.22653">[Arxiv]</a>
<a href="https://github.com/Hu-chih-yao/see-point-fly">[Code]</a>
<a href="https://spf-web.pages.dev/">[Project]</a>
</div>
</div>
</div>
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/diffact_arxiv.jpg' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
</div>
<div class='paper-desc'>
CoRL 2024
</div>
<div class='paper-authors'>
Tsung-Wei Ke*, Nikolaos Gkanatsios*, and Katerina Fragkiadaki
</div>
<div>
<a href="https://arxiv.org/abs/2402.10885">[Arxiv]</a>
<a href="https://github.com/nickgkan/3d_diffuser_actor">[Code]</a>
<a href="https://3d-diffuser-actor.github.io">[Project]</a>
</div>
</div>
</div>
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/diffes_arxiv.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
Diffusion-ES: Gradient-free Planning with Diffusion for Autonomous and Instruction-guided Driving
</div>
<div class='paper-desc'>
CVPR 2024
</div>
<div class='paper-authors'>
Brian Yang, Huangyuan Su, Nikolaos Gkanatsios, Tsung-Wei Ke, Ayush Jain, Jeff Schneider, and Katerina Fragkiadaki <br>
</div>
<div>
<a href="https://arxiv.org/abs/2402.06559">[Arxiv]</a>
<a href="https://github.com/bhyang/diffusion-es">[Code]</a>
<a href="https://diffusion-es.github.io/">[Project]</a>
</div>
</div>
</div>
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/cast_iclr2024.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
Learning Hierarchical Image Segmentation For Recognition and By Recognition<
</div>
<div class='paper-desc'>
ICLR 2024 (Spotlight)
</div>
<div class='paper-authors'>
Tsung-Wei Ke*, Sangwoo Mo*, and Stella Yu
</div>
<div>
<a href="https://arxiv.org/abs/2210.00314">[Arxiv]</a>
<a href="https://github.com/twke18/CAST">[Code]</a>
<a href="https://CAST-vision.github.io/">[Project]</a>
</div>
</div>
</div>
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/tta_neurips2023.gif' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
Test time Adaptation with Diffusion Models
</div>
<div class='paper-desc'>
NeuRIPS 2023
</div>
<div class='paper-authors'>
Mihir Prabhudesai*, Tsung-Wei Ke*, Alexander Cong Li, Deepak Pathak and Katerina Fragkiadaki
</div>
<div>
<a href="https://arxiv.org/abs/2311.16102">[Arxiv]</a>
<a href="https://github.com/mihirp1998/Diffusion-TTA">[Code]</a>
<a href="https://diffusion-tta.github.io/">[Project]</a>
</div>
</div>
</div>
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/hsg_cvpr2022.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
Unsupervised Hierarchical Semantic Segmentation with Multiview Cosegmentation and Clustering Transformers
</div>
<div class='paper-desc'>
CVPR 2022 (Oral)
</div>
<div class='paper-authors'>
Tsung-Wei Ke, Jyh-Jing Hwang, Yunhui Guo, Xudong Wang and Stella X. Yu
</div>
<div>
<a href="https://arxiv.org/abs/2204.11432">[Arxiv]</a>
<a href="https://github.com/twke18/HSG">[Code]</a>
<a href="https://twke18.github.io/projects/hsg.html">[Project]</a>
</div>
</div>
</div>
<div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/spml_iclr2021.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
Universal Weakly Supervised Segmentation by Pixel-to-Segment Contrastive Learning
</div>
<div class='paper-desc'>
ICLR 2021
</div>
<div class='paper-authors'>
Tsung-Wei Ke, Jyh-Jing Hwang, and Stella X. Yu
</div>
<div>
<a href="https://arxiv.org/abs/2105.00957">[Arxiv]</a>
<a href="https://github.com/twke18/SPML">[Code]</a>
<a href="https://twke18.github.io/projects/spml.html">[Project]</a>
</div>
</div>
</div>
<!-- <div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/asm_cvpr2019.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
Adversarial Structure Matching for Structured Prediction Tasks
</div>
<div class='paper-desc'>
CVPR 2019
</div>
<div class='paper-authors'>
Jyh-Jing Hwang, Tsung-Wei Ke, Jianbo Shi and Stella X. Yu
</div>
<div>
<a href="https://arxiv.org/abs/1805.07457">[Arxiv]</a>
<a href="https://github.com/twke18/Adversarial_Structure_Matching">[Code]</a>
<a href="https://jyhjinghwang.github.io/projects/asm.html">[Project]</a>
</div>
</div>
</div> -->
<!-- <div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/aaf_eccv2018.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
Adaptive Affinity Field for Semantic Segmentation
</div>
<div class='paper-desc'>
ECCV 2018
</div>
<div class='paper-authors'>
Tsung-Wei Ke*, Jyh-Jing Hwang*, Ziwei Liu and Stella X. Yu (*equal contribution)
</div>
<div>
<a href="https://arxiv.org/abs/1803.10335">[Arxiv]</a>
<a href="https://github.com/twke18/Adaptive_Affinity_Fields">[Code]</a>
<a href="https://jyhjinghwang.github.io/projects/aaf.html">[Project]</a>
</div>
</div>
</div> -->
<!-- <div class='row vspace-top'>
<div class="col-sm-3">
<img src='img/pubs/nmg_cvpr2017.png' class='img-fluid'>
</div>
<div class="col">
<div class='paper-title'>
Neural MultiGrid
</div>
<div class='paper-desc'>
CVPR 2017
</div>
<div class='paper-authors'>
Tsung-Wei Ke, Michael Maire, and Stella X. Yu
</div>
<div>
<a href="https://arxiv.org/abs/1611.07661"">[Arxiv]</a>
<a href="https://github.com/buttomnutstoast/Neural-MultiGrid">[Code]</a>
</div>
</div>
</div> -->
</div>
</div>
</div>
<div id='footer' class='vspace-top'>
<div>
<!-- jQuery (necessary for Bootstrap's JavaScript plugins) -->
<script src="https://ajax.googleapis.com/ajax/libs/jquery/1.12.4/jquery.min.js"></script>
<!-- Include all compiled plugins (below), or include individual files as needed -->
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