Qiao Gu

I am a Ph.D. student in the Robot Vision & Learning (RVL) Lab at the University of Toronto, advised by Prof. Florian Shkurti. My research interest lies in 3D computer vision and robotics. I am especially excited by robot perception and action algorithms that can generalize and adapt to novel environments. Now I am enthusiastically exploring open-world 3D scene understanding algorithms that can leverage the power of 2D foundation models.

During my Ph.D., I did an internship at Meta Reality Labs on egocentric 3D perception, working closely with Zhaoyang Lv and Chris Sweeney.

Prior to this, I obtained an M.S. in Robotics from Carnegie Mellon University, where I was fortunate to work with Prof. David Held and Prof. Martial Hebert. I received my Bachelor’s degree from the Hong Kong University of Science and Technology, where I have been lucky to work with Prof. Chi-Keung Tang and Prof. Yu-Wing Tai. I also had an internship at Tencent Youtu Lab.

Selected Publications

* indicates equal contribution.
EgoLifter: Open-world 3D Segmentation for Egocentric Perception
Qiao Gu, Zhaoyang Lv, Duncan Frost, Simon Green, Julian Straub, Chris Sweeney,
[paper] [video] [project page]
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning
Qiao Gu*, Alihusein Kuwajerwala*, Sacha Morin*, Krishna Murthy Jatavallabhula*, Bipasha Sen, Aditya Agarwal, Corban Rivera, William Paul, Kirsty Ellis, Rama Chellappa, Chuang Gan, Celso Miguel de Melo, Joshua B. Tenenbaum, Antonio Torralba, Florian Shkurti, Liam Paull,
International Conference on Robotics and Automation (ICRA), 2024
[paper] [video] [project page] [code]
ConceptFusion: Open-set Multimodal 3D Mapping
Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala*, Qiao Gu*, Mohd Omama*, Tao Chen, Shuang Li, Ganesh Iyer, Soroush Saryazdi, Nikhil Keetha, Ayush Tewari, Joshua B. Tenenbaum, Celso Miguel de Melo, Madhava Krishna, Liam Paull, Florian Shkurti, Antonio Torralba,
Robotics: Science and Systems (RSS) 2023
[paper] [video] [project page] [code]
Preserving Linear Separability in Continual Learning by Backward Feature Projection
Qiao Gu, Dongsub Shim, Florian Shkurti,
Computer Vision and Pattern Recognition (CVPR), 2023
[paper] [video] [code]
OSSID: Onilne Self-supervised Instance Detection by (and for) Pose Estimation
Qiao Gu, Brian Okorn, David Held,
Robotics and Automation Letter (RA-L), 2022
[paper] [video] [code] [project page]
ZePHyR: Zero-shot Pose Hypothesis Rating
Brian Okorn*, Qiao Gu*, Martial Hebert, David Held,
International Conference on Robotics and Automation (ICRA), 2021
[paper] [video] [code] [project page]
Deep Video Matting via Spatio-Temporal Alignment and Aggregation
Yanan Sun, Guanzhi Wang, Qiao Gu, Chi-Keung Tang, Yu-Wing Tai,
Conference on Computer Vision and Pattern Recognition (CVPR), 2021
[paper] [dataset]
LADN: Local Adversarial Disentangling Network for Facial Makeup and De-Makeup
Qiao Gu*, Guanzhi Wang*, Mang Tik Chiu, Yu-Wing Tai, Chi-Keung Tang,
International Conference on Computer Vision (ICCV), 2019
[paper] [project page] [code] [dataset]


  • Teaching Assistant for CSC384 - Intro to Artificial Intelligence, Fall 2022 at UofT
  • Teaching Assistant for CSC384 - Intro to Artificial Intelligence, Winter 2022 at UofT
  • Teaching Assistant for CSC110 - Foundations of Computer Science I, Fall 2021 at UofT


  • RA-L, ICML 2023, CVPR 2023, ICLR 2023, WACV 2023, ICCV 2023, CVPR 2022, ICLR 2022, WACV 2022, IROS 2022, NeurIPS 2022, ICCV 2021, ICRA 2021 and ECCV 2020


  • Ontario Graduate Scholarship (2022-2023)
  • Acres Productive Technologies Inc./Joseph Yonan Memorial Fellowship (2023)
  • HKUST Academic Achievement Medal (2019)
  • HKSAR Government Scholarships (2017-2019)
  • High Fashion Charitable Foundation Exchange Scholarships (2018)
  • Mr. Armin and Mrs. Lillian Kitchell Undergraduate Research Award (2018)
  • HKSAR Government Scholarship Fund - Reaching Out Award (2017)
  • HKSAR Government Scholarship Fund - Talent Development Scholarship (2017)
  • Dean’s List (2015-2019)