Manolis Savva

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I am an Associate Professor in the School of Computing Science at Simon Fraser University, and Canada Research Chair in Computer Graphics. My research focuses on analysis, organization and generation of 3D content. The methods that I work on are stepping stones towards holistic 3D scene understanding revolving around people, with applications in computer graphics, computer vision, and robotics.

Prior to my current position I was a visiting researcher at Facebook AI Research and a postdoctoral research associate at the Princeton University Computer Graphics and Vision Labs. I received my Ph.D. from Stanford University, under the supervision of Pat Hanrahan. My undergraduate degree was in Physics and Computer Science at Cornell University.

News

Publications

CAGE: Controllable Articulation GEneration
Jiayi Liu, Hou In (Ivan) Tam, Ali Mahdavi-Amiri, Manolis Savva
CVPR 2024
pdf | webpage

Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigation
Mukul Khanna, Yongsen Mao, Hanxiao Jiang, Sanjay Haresh, Brennan Shacklett, Dhruv Batra, Alexander Clegg, Eric Undersander, Angel X. Chang, Manolis Savva
CVPR 2024
pdf | webpage

Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectives
Kristen Grauman, ...Sanjay Haresh, ...Yongsen Mao, ...Manolis Savva, ...
CVPR 2024
pdf | webpage

Text-to-3D Shape Generation
Han-Hung Lee, Manolis Savva, Angel X. Chang
Eurographics STAR (State of The Art Report), CGF 2024
pdf | webpage

Generalizing Single-View 3D Shape Retrieval to Occlusions and Unseen Objects
Qirui Wu, Daniel Ritchie, Manolis Savva, Angel X. Chang
3DV 2024
pdf | webpage

OPDMulti: Openable Part Detection for Multiple Objects
Xiaohao Sun, Hanxiao Jiang, Manolis Savva, Angel X. Chang
3DV 2024
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MOPA: Modular Object Navigation with PointGoal Agents
Sonia Raychaudhuri, Tommaso Campari, Unnat Jain, Manolis Savva, Angel X. Chang
WACV 2024
pdf | webpage

HomeRobot: Open Vocabulary Mobile Manipulation
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin Wang, Mukul Khanna, Theo Gervet, Jimmy (Tsung-Yen) Yang, Vidhi Jain, Alexander Clegg, John Turner, Zsolt Kira, Manolis Savva, Angel X. Chang, Devendra Chaplot, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, Chris Paxton
CoRL 2023
pdf | webpage

PARIS: Part-level Reconstruction and Motion Analysis for Articulated Objects
Jiayi Liu, Ali Mahdavi-Amiri, Manolis Savva
ICCV 2023
pdf | webpage

Advances in Data-Driven Analysis and Synthesis of 3D Indoor Scenes
Akshay Gadi Patil, Supriya Gadi Patil, Manyi Li, Matthew Fisher, Manolis Savva, Hao Zhang
Computer Graphics Forum 2023 STAR (State of the Art Report)
pdf | webpage

Habitat-Matterport 3D Semantics Dataset
Karmesh Yadav, Ram Ramrakhya, Santhosh Kumar Ramakrishnan, Theo Gervet, John Turner, Aaron Gokaslan, Noah Maestre, Angel X. Chang, Dhruv Batra, Manolis Savva, Alexander Clegg, Devendra Chaplot
CVPR 2023
pdf | webpage

3DSSR: 3D Subscene Retrieval
Reza Asad, Manolis Savva
CVPR 2023 Workshop on Structural and Compositional Learning on 3D Data
pdf | webpage

Evaluating 3D Shape Analysis Methods for Robustness to Rotation Invariance
Supriya Gadi Patil, Angel X. Chang, Manolis Savva
CRV 2023
pdf | webpage

Emergence of Maps in the Memories of Blind Navigation Agents
Erik Wijmans, Manolis Savva, Irfan Essa, Stefan Lee, Ari Morcos, Dhruv Batra
ICLR 2023, Outstanding Paper Award
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MultiScan: Scalable RGBD scanning for 3D environments with articulated objects
Yongsen Mao, Yiming Zhang, Hanxiao Jiang, Angel X. Chang, Manolis Savva
NeurIPS 2022
pdf

Articulated 3D Human-Object Interactions from RGB Videos: An Empirical Analysis of Approaches and Challenges
Sanjay Haresh, Xiaohao Sun, Hanxiao Jiang, Angel X. Chang, Manolis Savva
3DV 2022
pdf | webpage

OPD: Single-view 3D Openable Part Detection
Hanxiao Jiang, Yongsen Mao, Manolis Savva, Angel X. Chang
ECCV 2022
pdf | webpage

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 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 | webpage

Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI
Santhosh Kumar 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 2021 Datasets & Benchmarks Track
pdf | webpage

Interpretation of Emergent Communication in Heterogeneous Collaborative Embodied Agents
Shivansh Patel, Saim Wani, Unnat Jain, Alexander Schwing, Svetlana Lazebnik, Manolis Savva, Angel X. Chang
ICCV 2021
pdf | webpage

D3D-HOI: Dynamic 3D Human-Object Interactions from Videos
Xiang Xu, Hanbyul Joo, Greg Mori, Manolis Savva
arXiv:2108.08420 [cs.CV]
pdf | webpage

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 | webpage

Plan2Scene: Converting Floorplans to 3D Scenes
Madhawa Vidanapathirana, Qirui Wu, Yasutaka Furukawa, Angel X. Chang, Manolis Savva
CVPR 2021
pdf | webpage

Mirror3D: Depth Refinement for Mirror Surfaces
Jiaqi Tan, Weijie (Lewis) Lin, Angel X. Chang, Manolis Savva
CVPR 2021
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LayoutGMN: Neural Graph Matching for Structural Layout Similarity
Akshay Gadi Patil, Manyi Li, Matthew Fisher, Manolis Savva, Hao Zhang
CVPR 2021
pdf

Large Batch Simulation for Deep Reinforcement Learning
Brennan Shacklett, Erik Wijmans, Aleksei Petrenko, Manolis Savva, Dhruv Batra, Vladlen Koltun, Kayvon Fatahalian
International Conference on Learning Representations (ICLR), 2021
pdf | webpage

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]
pdf | webpage

Multi-ON: Benchmarking Semantic Map Memory using Multi-object Navigation
Saim Wani, Shivansh Patel, Unnat Jain, Angel X. Chang, Manolis Savva
NeurIPS 2020
pdf | webpage

Motion Annotation Programs: A Scalable Approach to Annotating Kinematic Articulations in Large 3D Shape Collections
Xianghao Xu, David Charatan, Sonia Raychaudhuri, Hanxiao Jiang, Mae Heitmann, Vladimir Kim, Siddhartha Chaudhuri, Manolis Savva, Angel X. Chang, Daniel Ritchie
3DV 2020
pdf | webpage

Relational Graph Learning for Crowd Navigation
Changan Chen, Sha Hu, Payam Nikdel, Greg Mori, Manolis Savva
International Conference on Intelligent Robots and Systems (IROS) 2020
pdf | webpage

Are We Making Real Progress in Simulated Environments? Measuring the Sim2Real Gap in Embodied Visual Navigation
Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, Dhruv Batra
Robotics and Automation Letters (RA-L) & IROS 2020
pdf | webpage

DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames
Erik Wijmans, Abhishek Kadian, Ari Morcos, Stefan Lee, Irfan Essa, Devi Parikh, Manolis Savva, Dhruv Batra
International Conference on Learning Representations (ICLR), 2020
pdf | webpage

PlanIT: Planning and Instantiating Indoor Scenes with Relation Graph and Spatial Prior Networks
Kai Wang, Yu-An Lin, Ben Weissmann, Angel X. Chang, Manolis Savva, Daniel Ritchie
SIGGRAPH 2019
pdf | webpage

The Replica Dataset: A Digital Replica of Indoor Spaces
Julian Straub, Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob J. Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, Anton Clarkson, Mingfei Yan, Brian Budge, Yajie Yan, Xiaqing Pan, June Yon, Yuyang Zou, Kimberly Leon, Nigel Carter, Jesus Briales, Tyler Gillingham, Elias Mueggler, Luis Pesqueira, Manolis Savva, Dhruv Batra, Hauke M. Strasdat, Renzo De Nardi, Michael Goesele, Steven Lovegrove, Richard Newcombe
arXiv:1906.05797 [cs.CV]
pdf | webpage

Habitat: A Platform for Embodied AI Research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, Devi Parikh, Dhruv Batra
ICCV 2019, Best Paper Award Nominee
pdf | webpage

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 | webpage

Scan2CAD: Learning CAD Model Alignment in RGB-D Scans
Armen Avetisyan, Manuel Dahnert, Angela Dai, Manolis Savva, Angel X. Chang, Matthias Nießner
CVPR 2019, arXiv:1811.11187 [cs.CV]
pdf | video | webpage

Deep Convolutional Priors for Indoor Scene Synthesis
Kai Wang, Manolis Savva, Angel X. Chang, Daniel Ritchie
SIGGRAPH 2018
pdf | webpage

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]
pdf | webpage

Functionality Representations and Applications for Shape Analysis
Ruizhen Hu, Manolis Savva, Oliver van Kaick
Eurographics STAR (State of The Art Report), CGF 2018
pdf | webpage

Text2Shape: Generating Shapes from Natural Language by Learning Joint Embeddings
Kevin Chen, Christopher B. Choy, Manolis Savva, Angel X. Chang, Thomas Funkhouser, Silvio Savarese
arXiv:1803.08495 [cs.CV]
pdf | webpage

MINOS: Multimodal Indoor Simulator for Navigation in Complex Environments
Manolis Savva, Angel X. Chang, Alexey Dosovitskiy, Thomas Funkhouser, Vladlen Koltun
arXiv:1712.03931 [cs.LG]
pdf | webpage

Im2Pano3D: Extrapolating 360 Structure and Semantics Beyond the Field of View
Shuran Song, Andy Zeng, Angel X. Chang, Manolis Savva, Silvio Savarese, Thomas Funkhouser
CVPR 2018, arXiv:1712.04569 [cs.CV]
pdf | webpage

Linking WordNet to 3D Shapes
Angel X. Chang, Rishi Mago, Pranav Krishna, Manolis Savva, Christiane Fellbaum
Proceedings of Global WordNet Conference 2018
pdf

Cross-modal Attribute Transfer for Rescaling 3D Models
Lin Shao, Angel X. Chang, Hao Su, Manolis Savva, Leonidas Guibas
3DV 2017
pdf

Matterport3D: Learning from RGB-D Data in Indoor Environments
Angel X. Chang, Angela Dai, Thomas Funkhouser, Maciej Halber, Matthias Nießner, Manolis Savva, Shuran Song, Andy Zeng, Yinda Zhang
3DV 2017
pdf | bib | webpage

Learning Where to Look: Data-Driven Viewpoint Set Selection for 3D Scenes
Kyle Genova, Manolis Savva, Angel X. Chang, Thomas Funkhouser
arXiv:1702.04405 [cs.CV]
pdf | bib | webpage

ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes
Angela Dai, Angel X. Chang, Manolis Savva, Maciej Halber, Thomas Funkhouser, Matthias Nießner
CVPR 2017, arXiv:1702.04405 [cs.CV]
pdf | bib | webpage

Physically-Based Rendering for Indoor Scene Understanding Using Convolutional Neural Networks
Yinda Zhang, Shuran Song, Ersin Yumer, Manolis Savva, Joon-Young Lee, Hailin Jin, Thomas Funkhouser
CVPR 2017, arXiv:1612.07429 [cs.CV]
pdf | bib | webpage

Semantic Scene Completion from a Single Depth Image
Shuran Song, Fisher Yu, Andy Zeng, Angel X. Chang, Manolis Savva, Thomas Funkhouser
CVPR 2017, arXiv:1611.08974 [cs.CV]
pdf | bib | webpage

SceneSuggest: Context-driven 3D Scene Design
Manolis Savva, Angel X. Chang, Maneesh Agrawala
arXiv:1703.00061 [cs.GR]
pdf | bib | webpage

SceneSeer: 3D Scene Design with Natural Language
Angel X. Chang, Mihail Eric, Manolis Savva, Christopher D. Manning
arXiv:1703.00050 [cs.GR]
pdf | bib | webpage

Directions in Shape Analysis towards Functionality
Ruizhen Hu, Oliver van Kaick, Youyi Zheng, Manolis Savva
SIGGRAPH Asia Course, 2016
pdf | bib | webpage

Body-centric Understanding of 3D Environments
Manolis Savva
Ph.D. dissertation, Department of Computer Science, Stanford University, 2016
pdf | bib | webpage

PiGraphs: Learning Interaction Snapshots from Observations
Manolis Savva, Angel X. Chang, Pat Hanrahan, Matthew Fisher, Matthias Nießner
SIGGRAPH 2016 Technical Papers
pdf | bib | webpage

SHREC'16 Track: Large-Scale 3D Shape Retrieval from ShapeNet Core55
Manolis Savva, Fisher Yu, Hao Su, Masaki Aono, Baoquan Chen, Daniel Cohen-Or, Weihong Deng, Hang Su, Song Bai, Xiang Bai, Noa Fish, Jiajie Han, Evangelos Kalogerakis, Erik G. Learned-Miller, Yangyan Li, Minghui Liao, Subhransu Maji, Atsushi Tatsuma, Yida Wang, Nanhai Zhang, Zhichao Zhou
Eurographics Workshop on 3D Object Retrieval 2016
pdf | bib | webpage

ShapeNet: An Information-Rich 3D Model Repository
Angel X. Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, Jianxiong Xiao, Li Yi, Fisher Yu
arXiv:1512.03012 [cs.GR], Dec 2015
pdf | bib | webpage

Activity-centric Scene Synthesis for Functional 3D Scene Modeling
Matthew Fisher, Manolis Savva, Yangyan Li, Pat Hanrahan, Matthias Nießner
SIGGRAPH Asia 2015 Technical Papers
pdf | bib | webpage

Semantically-Enriched 3D Models for Common-sense Knowledge
Manolis Savva, Angel X. Chang, Pat Hanrahan
CVPR 2015 Vision meets Cognition Workshop
pdf | bib | webpage

Text to 3D Scene Generation with Rich Lexical Grounding
Angel X. Chang, Will Monroe, Manolis Savva, Christopher Potts, Christopher D. Manning
Proceedings of ACL 2015
pdf | bib | webpage

SceneGrok: Inferring Action Maps in 3D Environments
Manolis Savva, Angel X. Chang, Pat Hanrahan, Matthew Fisher, Matthias Nießner
SIGGRAPH Asia 2014 Technical Papers
pdf | bib | webpage

On Being the Right Scale: Sizing Large Collections of 3D Models
Manolis Savva, Angel X. Chang, Gilbert Bernstein, Christopher D. Manning, Pat Hanrahan
SIGGRAPH Asia 2014 Workshop on Indoor Scene Understanding: Where Graphics meets Vision
pdf | bib | webpage

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)
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Learning Affordance Maps by Observing Interactions
Manolis Savva, Angel X. Chang, Matthew Fisher, Matthias Nießner, Pat Hanrahan
CVPR 2014 Workshop on Functionality, Physics, Intentionality and Causality
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Interactive Learning of Spatial Knowledge for Text to 3D Scene Generation
Angel X. Chang, Manolis Savva, Christopher D. Manning
Proceedings of the ACL 2014 Workshop on Interactive Language Learning, Visualization, and Interfaces
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Semantic Parsing for Text to 3D Scene Generation
Angel X. Chang, Manolis Savva, Christopher D. Manning
Proceedings of the ACL 2014 Workshop on Semantic Parsing
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TransPhoner: Automated Mnemonic Keyword Generation
Manolis Savva, Angel X. Chang, Christopher D. Manning, Pat Hanrahan
Proceedings of CHI 2014
pdf | bib | webpage

Example-based Synthesis of 3D Object Arrangements
Matthew Fisher, Daniel Ritchie, Manolis Savva, Thomas Funkhouser, Pat Hanrahan
Proceedings of SIGGRAPH Asia 2012
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GraphPrism: Compact Visualization of Network Structure
Sanjay Kairam, Diana MacLean, Manolis Savva, Jeffrey Heer
Advanced Visual Interfaces, 2012
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ReVision: Automated Classification, Analysis and Redesign of Chart Images
Manolis Savva, Nicholas Kong, Arti Chhajta, Li Fei-Fei, Maneesh Agrawala, Jeffrey Heer
ACM User Interface Software & Technology (UIST), 2011 [Notable Paper Award]
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Characterizing Structural Relationships in Scenes using Graph Kernels
Matthew Fisher, Manolis Savva, Pat Hanrahan
Proceedings of SIGGRAPH 2011
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