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.

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

Preprints and publications


  • Grounding language to 3D
  • Language based content creation
  • BIOSCAN
  • Embodied AI
  • Simulation platforms
  • Articulated objects for interactive environments
  • Large-scale datasets for 3D deep learning
  • 3D scene understanding and generation

    • 2024

    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
    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
    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
    M2DNeRF: Multi-Modal Decomposition NeRF with 3D Feature Fields  

    M2DNeRF: Multi-Modal Decomposition NeRF with 3D Feature Fields

    Ning Wang, Lefei Zhang, Angel X. Chang
     arXiv:2405.05010 [cs.CV], May 2024
    pdf
    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
    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
    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
    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

    2023

    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
    BarcodeBERT: Transformers for Biodiversity Analysis  

    BarcodeBERT: Transformers for Biodiversity Analysis

    Pablo Millan Arias, Niousha Sadjadi, Monireh Safari, Zeming Gong, Austin T. Wang, Scott C Lowe, Joakim Bruslund Haurum, Iuliia Zarubiieva, Dirk Steinke, Lila Kari, Angel X. Chang, Graham W Taylor
    4th Workshop on Self-Supervised Learning: Theory and Practice (NeurIPS 2023)
    pdf | code
    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
    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
    Evaluating 3D Shape Analysis Methods for Robustness to Rotation Invariance  

    Evaluating 3D Shape Analysis Methods for Robustness to Rotation Invariance

    Supriya Pandhre, Angel X. Chang, Manolis Savva
    CRV 2023
    pdf

    2022

    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
    3DVQA: Visual Question Answering for 3D Environments  

    3DVQA: Visual Question Answering for 3D Environments

    Yasaman Etesam, Leon Kochiev, Angel X. Chang
     CRV 2022
    pdf | code | webpage

    2021

    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
    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
    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

    2020

    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

    2019

    Mimic and Rephrase: Reflective Listening in Open-Ended Dialogue  

    Mimic and Rephrase: Reflective Listening in Open-Ended Dialogue

    Justin Dieter, Tian Wang, Gabor Angeli, Angel X. Chang, Arun Tejasvi Chaganty
    CONLL 2019
    pdf | code
    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
    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

    2018

    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
    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
    Linking WordNet to 3D Shapes  

    Linking WordNet to 3D Shapes

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

    2017

    Cross-modal Attribute Transfer for Rescaling 3D Models  

    Cross-modal Attribute Transfer for Rescaling 3D Models

    Lin Shao, Angel X. Chang, Hao Su, Manolis Savva, Leonidas Guibas
    Proceedings of 3DV 2017
    pdf
    Learning Where to Look: Data-Driven Viewpoint Set Selection for 3D Scenes  

    Learning Where to Look: Data-Driven Viewpoint Set Selection for 3D Scenes

    Kyle Genova, Manolis Savva, Angel X. Chang, Thomas Funkhouser
    arXiv:1704.02393 [cs.CV]
    pdf
    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
    A Two-stage Sieve Approach to Quote Attribution  

    A Two-stage Sieve Approach to Quote Attribution

    Grace Muzny, Michael Fang, Angel X. Chang, Dan Jurafsky
    Proceedings of EACL 2017
    pdf | code | data
    SceneSuggest: Context-driven 3D Scene Design  

    SceneSuggest: Context-driven 3D Scene Design

    Manolis Savva, Angel X. Chang, Maneesh Agrawala
    arXiv:1703.00061 [cs.CG], March 2017
    pdf | demo
    SceneSeer: 3D Scene Design with Natural Language  

    SceneSeer: 3D Scene Design with Natural Language

    Angel X. Chang, Mihail Eric, Manolis Savva, Christopher D. Manning
    arXiv:1703.00050 [cs.CG], March 2017
    pdf | demo

    2016

    Evaluating the word-expert approach for Named-Entity Disambiguation

    Angel X. Chang, Valentin I. Spitkovsky, Christopher D. Manning, Eneko Agirre
    arXiv:1603.04767 [cs.CL], March 2016
    pdf

    2015

    Text to 3D scene generation  

    Text to 3D scene generation

    Angel X. Chang
     Ph.D. dissertation, Department of Computer Science, Stanford University, 2015
    pdf
    Semantically-Enriched 3D Models for Common-sense Knowledge  

    Semantically-Enriched 3D Models for Common-sense Knowledge

    Manolis Savva, Angel X. Chang, Pat Hanrahan
    CVPR 2015 Vision meets Cognition Workshop
    pdf | bib | webpage

    2014

    On Being the Right Scale: Sizing Large Collections of 3D Models  

    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  

    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
    Learning Affordance Maps by Observing Interactions  

    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
    pdf | bib
    Interactive Learning of Spatial Knowledge for Text to 3D Scene Generation  

    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
    pdf | bib | webpage
    Semantic Parsing for Text to 3D Scene Generation  

    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
    pdf | bib | webpage

    2013

    Stanford's 2013 KBP System

    Gabor Angeli, Arun Tejasvi Chaganty, Angel X. Chang, Kevin Reschke, Julie Tibshirani, Jean Y. Wu, Osbert Bastani, Keith Siilats, Christopher D. Manning
    In Proceedings of the Sixth Text Analysis Conference (TAC 2014)
    pdf

    SUTime: Evaluation in TempEval-3

    Angel X. Chang, Christopher D. Manning
    In Second Joint Conference on Lexical and Computational Semantics (*SEM), Volume 2: Proceedings of the Seventh International Workshop on Semantic Evaluation (SemEval 2013)
    pdf

    2012

    Joint Entity and Event Coreference Resolution across Documents

    Heeyoung Lee, Marta Recasens, Angel X. Chang, Mihai Surdeanu, Dan Jurafsky
    Proceedings of the Conference on Empirical Methods in Natural Language Processing and Computational Natural Language Learning (EMNLP-CoNLL 2012)
    pdf | bib
    SUTime: A Library for Recognizing and Normalizing Time Expressions.  

    SUTime: A Library for Recognizing and Normalizing Time Expressions.

    Angel X. Chang, Christopher D. Manning
    In Proceedings of the Eighth International Conference on Language Resources and Evaluation (LREC 2012)
    pdf | bib | poster | demo | webpage

    A Cross-Lingual Dictionary for English Wikipedia Concepts

    Valentin I. Spitkovsky, Angel X. Chang
     In Proceedings of the Eighth International Conference on Language Resources and Evaluation (LREC 2012)
    pdf | bib | data | slides | post

    2011

    Stanford's Distantly-Supervised Slot-Filling System

    Mihai Surdeanu, Sonal Gupta, John Bauer, David McClosky, Angel X. Chang, Valentin I. Spitkovsky, Christopher D. Manning
    In Proceedings of the Fourth Text Analysis Conference (TAC 2011)
    pdf | bib | data

    Strong Baselines for Cross-Lingual Entity Linking

    Valentin I. Spitkovsky, Angel X. Chang
     In Proceedings of the Fourth Text Analysis Conference (TAC 2011)
    pdf | bib

    Stanford-UBC Entity Linking at TAC-KBP, Again

    Angel X. Chang, Valentin I. Spitkovsky, Eneko Agirre, Christopher D. Manning
    In Proceedings of the Fourth Text Analysis Conference (TAC 2011)
    pdf | bib

    Unsupervised Dependency Parsing without Gold Part-of-Speech Tags

    Valentin I. Spitkovsky, Hiyan Alshawi, Angel X. Chang, Dan Jurafsky
    In Proceedings of the 2011 Conference on Empirical Methods in Natural Language Processing (EMNLP 2011)
    pdf | bib | data | poster

    2010

    A Simple Distant Supervision Approach for the TAC-KBP Slot Filling Task

    Mihai Surdeanu, David McClosky, Julie Tibshirani, John Bauer, Angel X. Chang, Valentin I. Spitkovsky, Christopher D. Manning
    In Proceedings of the Third Text Analysis Conference (TAC 2010)
    pdf | bib | slides

    Stanford-UBC Entity Linking at TAC-KBP

    Angel X. Chang, Valentin I. Spitkovsky, Eric Yeh, Eneko Agirre, Christopher D. Manning
    In Proceedings of the Third Text Analysis Conference (TAC 2010)
    pdf | bib | poster

    2009

    Stanford-UBC at TAC-KBP

    Eneko Agirre, Angel X. Chang, Dan Jurafsky, Christopher D. Manning, Valentin I. Spitkovsky, Eric Yeh
    In Proceedings of the Second Text Analysis Conference (TAC 2009)
    pdf | bib | slides

    2000

    The Fractal Geometry of the Boundary of Dragon Curves  

    The Fractal Geometry of the Boundary of Dragon Curves

    Angel X. Chang, Tianrong Zhang
    In Journal of Recreational Mathematics 30 (1), 9-22
    pdf | bib