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Angel Xuan Chang

I am an Associate Professor at Simon Fraser University. Prior to this, I was a visiting research scientist at Facebook AI Research and a research scientist at Eloquent Labs working on dialogue. I received my Ph.D. in Computer Science from Stanford, where I was part of the Natural Language Processing Group and advised by Chris Manning. My research focuses on connecting language to 3D representations of shapes and scenes and grounding of language for embodied agents in indoor environments. I have worked on methods for synthesizing 3D scenes and shapes from natural language, and various datasets for 3D scene understanding. In general, I am interested in the semantics of shapes and scenes, the representation and acquisition of common sense knowledge, and reasoning using probabilistic models. Some of my other interests include drawing and dance.

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Angel Xuan Chang
angelx-{at}-sfu-[dot]-ca

Associate Professor
School of Computing Science
Simon Fraser University
3dlg-hcvc | GrUVi Lab | SFU NatLang
SFU AI/ML | VINCI
Canada CIFAR AI Chair (Amii)
TUM-IAS Hans Fischer Fellow (2018-2022)
Google Scholar

Recent Papers

Diorama: Unleashing Zero-shot Single-view 3D Scene Modeling  

Diorama: Unleashing Zero-shot Single-view 3D Scene Modeling

Qirui Wu, Denys Iliash, Daniel Ritchie, Manolis Savva, Angel X. Chang
 arXiv:2411.19492 [cs.CV], November 2024
pdf | webpage
S2O: Static to Openable Enhancement for Articulated 3D Objects  

S2O: Static to Openable Enhancement for Articulated 3D Objects

Denys Iliash, Hanxiao (Shawn) Jiang, Yiming Zhang, Manolis Savva, Angel X. Chang
 arXiv:2409.18896 [cs.CV], September 2024
pdf | code | webpage
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Research Themes

Grounding language to 3D

Duoduo CLIP: Efficient 3D Understanding with Multi-View Images  

Duoduo CLIP: Efficient 3D Understanding with Multi-View Images

Han-Hung Lee, Yiming Zhang, Angel X. Chang
 arXiv:2406.11579 [cs.CV], June 2024
pdf | code | webpage
TriCoLo: Trimodal Contrastive Loss for Text to Shape Retrieval  

TriCoLo: Trimodal Contrastive Loss for Text to Shape Retrieval

Yue Ruan, Han-Hung Lee, Yiming Zhang, Ke Zhang, Angel X. Chang
 WACV 2024, arXiv:2201.07366 [cs.CV], January 2022
pdf | code | webpage

Language based content creation

SceneMotifCoder: Example-driven Visual Program Learning for Generating 3D Object Arrangements  

SceneMotifCoder: Example-driven Visual Program Learning for Generating 3D Object Arrangements

Hou In Ivan Tam, Hou In Derek Pun, Austin T. Wang, Angel X. Chang, Manolis Savva
3DV 2025, arXiv:2408.02211 [cs.GR], August 2024
pdf | code | video | webpage
Text-to-3D Shape Generation  

Text-to-3D Shape Generation

Han-Hung Lee, Manolis Savva, Angel X. Chang
 Eurographics STAR (State of The Art Report), CGF 2024
pdf | webpage
Understanding Pure CLIP Guidance for Voxel Grid NeRF Models  

Understanding Pure CLIP Guidance for Voxel Grid NeRF Models

Han-Hung Lee, Angel X. Chang
 arXiv:2201.07366 [cs.CV], September 2022
pdf | code | webpage
Learning Spatial Knowledge for Text to 3D Scene Generation  

Learning Spatial Knowledge for Text to 3D Scene Generation

Angel X. Chang, Manolis Savva, Christopher D. Manning
Proceedings of the 2014 Conference on Empirical Methods in Natural Language Processing (EMNLP 2014)
pdf | bib | webpage

BIOSCAN

BIOSCAN-5M: A Multimodal Dataset for Insect Biodiversity  

BIOSCAN-5M: A Multimodal Dataset for Insect Biodiversity

Zahra Gharaee, Scott C Lowe, Zeming Gong, Pablo Millan Arias, Nicholas Pellegrino, Austin T. Wang, Joakim Bruslund Haurum, Iuliia Zarubiieva, Lila Kari, Dirk Steinke, Graham W Taylor, Paul Fieguth, Angel X. Chang
 NeurIPS D&B 2024, arXiv:2406.12723 [cs.LG], June 2024
pdf | code | webpage
A Step Towards Worldwide Biodiversity Assessment: The BIOSCAN-1M Insect Dataset  

A Step Towards Worldwide Biodiversity Assessment: The BIOSCAN-1M Insect Dataset

Zahra Gharaee, Zeming Gong, Nicholas Pellegrino, Iuliia Zarubiieva, Joakim Bruslund Haurum, Scott C Lowe, Jaclyn TA McKeown, Chris CY Ho, Joschka McLeod, Yi-Yun C Wei, Jireh Agda, Sujeevan Ratnasingham, Dirk Steinke, Angel X. Chang, Graham W Taylor, Paul Fieguth
NeurIPS Datasets and Benchmarks 2023
pdf | code | webpage

Embodied AI

MOPA: Modular Object Navigation with PointGoal Agents  

MOPA: Modular Object Navigation with PointGoal Agents

Sonia Raychaudhuri, Tommaso Campari, Unnat Jain, Manolis Savva, Angel X. Chang
 WACV 2024, arXiv:2304.03696 [cs.RO, cs.CV], April 2023
pdf | code | webpage
HomeRobot: Open Vocabulary Mobile Manipulation  

HomeRobot: Open Vocabulary Mobile Manipulation

Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin Wang, Mukul Khanna, Theo Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander William Clegg, John Turner, Zsolt Kira, Manolis Savva, Angel X. Chang, Devendra Singh Chaplot, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, Chris Paxton
CoRL 2023
pdf | code | challenge | webpage
Exploiting Proximity-Aware Tasks for Embodied Social Navigation  

Exploiting Proximity-Aware Tasks for Embodied Social Navigation

Enrico Cancelli, Tommaso Campari, Luciano Serafini, Angel X. Chang, Lamberto Ballan
ICCV 2023
pdf
Rearrangement: A Challenge for Embodied AI  

Rearrangement: A Challenge for Embodied AI

Dhruv Batra, Angel X. Chang, Sonia Chernova, Andrew J. Davison, Jia Deng, Vladlen Koltun, Sergey Levine, Jitendra Malik, Igor Mordatch, Roozbeh Mottaghi, Manolis Savva, Hao Su
arXiv:2011.01975 [cs.AI], November 2020
pdf
On evaluation of embodied navigation agents  

On evaluation of embodied navigation agents

Peter Anderson, Angel X. Chang, Devendra Singh Chaplot, Alexey Dosovitskiy, Saurabh Gupta, Vladlen Koltun, Jana Kosecka, Jitendra Malik, Roozbeh Mottaghi, Manolis Savva, Amir R. Zamir
arXiv:1807.06757 [cs.AI], July 2018
pdf

Simulation platforms

Habitat 2.0: Training Home Assistants to Rearrange their Habitat  

Habitat 2.0: Training Home Assistants to Rearrange their Habitat

Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Singh Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimír Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel X. Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, Dhruv Batra
NeurIPS 2021
pdf | code | post

Articulated objects for interactive environments

S2O: Static to Openable Enhancement for Articulated 3D Objects  

S2O: Static to Openable Enhancement for Articulated 3D Objects

Denys Iliash, Hanxiao (Shawn) Jiang, Yiming Zhang, Manolis Savva, Angel X. Chang
 arXiv:2409.18896 [cs.CV], September 2024
pdf | code | webpage
OPDMulti: Openable Part Detection for Multiple Objects  

OPDMulti: Openable Part Detection for Multiple Objects

Xiaohao Sun, Hanxiao (Shawn) Jiang, Manolis Savva, Angel X. Chang
 3DV 2024, arXiv:2303.14087 [cs.CV], arXiv March 2023
pdf | code | webpage

Large-scale datasets for 3D deep learning

Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI  

Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI

Santhosh K. Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alexander Clegg, John Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X. Chang, Manolis Savva, Yili Zhao, Dhruv Batra
NeurIPS Datasets and Benchmarks Track 2021
pdf | webpage
Scan2CAD: Learning CAD Model Alignment in RGB-D Scans  

Scan2CAD: Learning CAD Model Alignment in RGB-D Scans

Armen Avetisyan, Manuel Dahnert, Angela Dai, Manolis Savva, Angel X. Chang, Matthias Nießner
CVPR 2019 (oral), arXiv:1811.11187 [cs.CV]
pdf | code | video | benchmark

3D scene understanding and generation

Diorama: Unleashing Zero-shot Single-view 3D Scene Modeling  

Diorama: Unleashing Zero-shot Single-view 3D Scene Modeling

Qirui Wu, Denys Iliash, Daniel Ritchie, Manolis Savva, Angel X. Chang
 arXiv:2411.19492 [cs.CV], November 2024
pdf | webpage
Roominoes: Learning to Assemble 3D Rooms into Floor Plans  

Roominoes: Learning to Assemble 3D Rooms into Floor Plans

Kai Wang, Xianghao Xu, Leon Lei, Selena Ling, Natalie Lindsay, Angel X. Chang, Manolis Savva, Daniel Ritchie
SGP 2021
pdf | video
PlanIT: Planning and Instantiating Indoor Scenes with Relation Graph and Spatial Prior Networks  

PlanIT: Planning and Instantiating Indoor Scenes with Relation Graph and Spatial Prior Networks

Kai Wang, Yu-An Lin, Ben Weissmann, Manolis Savva, Angel X. Chang, Daniel Ritchie
SIGGRAPH 2019
pdf | code
Hierarchy Denoising Recursive Autoencoders for 3D Scene Layout Prediction  

Hierarchy Denoising Recursive Autoencoders for 3D Scene Layout Prediction

Yifei Shi, Angel X. Chang, Zhelun Wu, Manolis Savva, Kai Xu
CVPR 2019, arXiv:1903.03757 [cs.CV]
pdf | code | webpage
Deep Convolutional Priors for Indoor Scene Synthesis  

Deep Convolutional Priors for Indoor Scene Synthesis

Kai Wang, Manolis Savva, Angel X. Chang, Daniel Ritchie
SIGGRAPH 2018
pdf | code
Semantic Scene Completion from a Single Depth Image  

Semantic Scene Completion from a Single Depth Image

Shuran Song, Fisher Yu, Andy Zeng, Angel X. Chang, Manolis Savva, Thomas Funkhouser
Proceedings of CVPR 2017 (oral), arXiv:1611.08974 [cs.CV]
pdf | webpage