GeezerVison is showing shurans.github.io — Shuran Song

Shuran Song

Associate Professor of Electrical Engineering, by courtesy, of Computer Science at Stanford University
I lead the Robotics and Embodied AI Lab at Stanford University( REAL@Stanford ). We are interested in developing algorithms that enable intelligent systems to learn from their interactions with the physical world, and autonomously acquire the perception and manipulation skills necessary to execute complex tasks and assist people. To learn more about my group's research please visit our REAL website.

Email: shuran [at] stanford [dot] edu
Office: RM258, 350 Jane Stanford Way Packard Bldg Stanford, CA 94305.

Recent Talks

Cross-Embodiment Learning for Dexterous Manipulation ( Recording ) at Handy Moves Workshop @ ICRA'25
Self-Adaptive Robots ( Slides ) at Workshop on Embodiment-Aware Robot Learning (EARL) @ RSS'24
Navigating the Upward Spiral for Sensorimotor Learning ( Slides ) Keynote at A Future Roadmap for Sensorimotor Skill Learning for Robot Manipulation @ ICRA’24
What I wish I had for Robot Learning ( Slides ) Early Career Keynote at Conference on Robot Learning
Learning Meets Gravity: Robots that Embrace Dynamics and Pixels ( Talk ) at CMU Robotics Institute

Abstraction as Inductive Bias: Open-World 3D Scene Understanding without Open-World 3D Data ( Slide ) at Inductive Bias in Robot Learning Workshop @ CoRL'22

The Reasonable Effectiveness of Dynamic Manipulation for Deformable Objects( Talk ) at University of Toronto Robotics Institute

Structure from Action: Articulated Object Structure Discovery with Active Interactions ( Slides ) at ICCV Struco3D Workshop

Self-Adaptive Manipulation ( Slides ) ( Talk )

Unfolding the Unseen: Deformable Cloth Perception and Manipulation ( Slides Video PDF) ( Talk )

Active Scene Understanding with Robot Interactions ( Slides )

Category-level Pose Estimation ( Slides ) at ECCV2020 Workshop on Recovering 6D Object Pose

Learning Visual Representations for Generalizable Manipulation ( Slides ) at CVPR2020 3D Scene Understanding for Vision, Graphics, and Robotics

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Publications

What Enables In-Context Behavior Prompting for Manipulation?

Austin Patel, Ben Pekarek, Joel Enrique Castro Hernandez, Shuran Song
arXiv 2026
Webpage • Paper • Code

Gated Memory Policy: In-Context Memorization and Adaptation

Yihuai Gao, Jinyun Liu, Shuang Li, Shuran Song
CoRL 2026
Webpage • Paper • Code

Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design

Huy Ha, C. Karen Liu, Shuran Song
CoRL 2026
Webpage • Paper • Code

ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation

Joshua Citron, Renee Zbizika, Zeyi Liu, Shuran Song
arXiv 2026
Webpage • Paper • Code

Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation

Dian Wang*, Jisang Park*, Xiaomeng Xu, Han Zhang, Shuran Song†, Jeannette Bohg†
CoRL 2026
Webpage • Paper • Code

PanoVine: Whole-Body Visuomotor Control for Soft Growing Vine Robot

Yimeng Qin, Xiaomeng Xu, William Heap, Aditi Oak, Shuran Song, Allison Okamura
CoRL 2026
Webpage • Paper • Code

Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force

Jaden Clark, Changhao Wang, Yihuai Gao, Seongheon Hong, Hojung Choi, Mark Cutkosky, Yifan Hou, Shuran Song
CoRL 2026
Webpage • Paper • Code

Memory Anchors for Continual Robot Learning

Maximilian Du, Zhanyi Sun, Chen Xu, Paarth Shah, Masha Itkina, Shuran Song
CoRL 2026
Webpage • Paper

From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning

Zhanyi Sun, Shuran Song
ICML 2026
Webpage • Paper • Code

DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation

Zhao Mandi, Yifan Hou, Dieter Fox, Yashraj Narang, Ajay Mandlekar, Shuran Song
ICML 2026
Webpage • Paper • Code

DF-ExpEnse: Diffusion Filtered Exploration for Sample Efficient Finetuning

Calvin Luo, Chen Sun, Shuran Song
ICML 2026
Webpage • Paper • Code

Minimalist Compliance Control

Haochen Shi*, Songbo Hu*, Yifan Hou, Weizhuo Wang, C. Karen Liu†, Shuran Song†
RSS 2026
Webpage • Paper • Code

HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations

Xiaomeng Xu, Jisang Park, Han Zhang, Eric Cousineau, Aditya Bhat, Jose Barreiros, Dian Wang, Jeannette bohg, Shuran Song
RSS 2026
Webpage • Paper • Code

UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation

Hao Li*, Long Yin Chung*, Jack Goler, Ryan Zhang, Xiaochi Xie, Huy Ha, Shuran Song, Mark Cutkosky
RSS 2026
Webpage • Paper • Code

EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World

EgoVerse team
RSS 2026
Webpage • Paper • Code

In-the-Wild Compliant Manipulation with UMI-FT

Hojung Choi*, Yifan Hou*, Chuer Pan, Seongheon Hong, Austin Patel, Xiaomeng Xu, Mark Cutkosky, and Shuran Song
ICRA 2026
Webpage • Paper • Hardware • Code

UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies

Harsh Gupta, Xiaofeng Gao, Huy Ha, Chuer Pan, Muqing Cao, Dongjae Lee, Sebastian Scherer, Shuran Song, Guanya Shi
ICRA 2026
Webpage • Paper • Code

Will People Enjoy a Robot Trainer? A Case Study with Snoopie the Pacerbot

Maximilian Du, Jennifer Grannen, Shuran Song, Dorsa Sadigh
ICRA 2026
Webpage • Paper •

Locomotion Beyond Feet

Tae Hoon Yang, Jiacheng Hu, Haochen Shi, Zhicong Zhang, Daniel Jiang, Weizhuo Wang, Yao He, Zhen Wu, Yifan Hou, Monroe Kennedy, Shuran Song, Karen Liu
arXiv 2025
Webpage • Paper • Code •

Geometry-aware 4D Video Generation for Robot Manipulation

Zeyi Liu, Shuang Li, Eric Cousineau, Siyuan Feng, Benjamin Burchfiel, Shuran Song
ICLR 2026
Webpage • Paper • Code •

Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning

Moo Jin Kim, Yihuai Gao, Tsung-Yi Lin, Yen-Chen Lin, Yunhao Ge, Grace Lam, Percy Liang, Shuran Song, Ming-Yu Liu, Chelsea Finn, Jinwei Gu
ICLR 2026
Webpage • Paper • Code •

Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution

Zhanyi Sun, Shuran Song
NeurIPS 2025
Spotlight Presentation • Webpage • Paper • Code

DynaGuide: Steering Diffusion Policies with Active Dynamic Guidance

Max Du, Shuran Song
NeurIPS 2025
Webpage • Paper • Code

Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections

Xiaomeng Xu, Yifan Hou, Chendong Xin, Zeyi Liu, Shuran Song
NeurIPS 2025
Webpage • Paper • Code

A Practical Guide for Incorporating Symmetry in Diffusion Policy

Dian Wang, Boce Hu, Shuran Song, Robin Walters, Robert Platt
NeurIPS 2025
Paper

Rectified Point Flow: Generic Point Cloud Pose Estimation

Tao Sun, Liyuan Zhu, Shengyu Huang, Shuran Song, Iro Armeni
NeurIPS 2025
Spotlight Presentation • Webpage • Paper • Code

DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation

Mengda Xu*, Han Zhang*, Yifan Hou, Zhenjia Xu, Linxi Fan, Manuela Veloso, Shuran Song
CoRL 2025
Best Paper Finalist • Oral Presentation • Webpage • Paper • Code • Hardware

Vision in Action: Learning Active Perception from Human Demonstrations

Haoyu Xiong, Xiaomeng Xu, Jimmy Wu, Yifan Hou, Jeannette Bohg, Shuran Song
CoRL 2025
Webpage • Paper • Code • Hardware

Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids

Kaizhe Hu*, Haochen Shi*, Yao He, Weizhuo Wang, C. Karen Liu†, Shuran Song†
CoRL 2025
Webpage • Paper • Code • Hardware

ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation

Haochen Shi, Weizhuo Wang, Shuran Song, C. Karen Liu
CoRL 2025
Webpage • Paper • Hardware+Code

One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies

Chuer Pan, Litian Liang, Dominik Bauer, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Shuran Song
CoRL 2025
Webpage • Paper • Code

BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities

Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, Li Fei-Fei
CoRL 2025 Webpage • Paper •

Unified Video Action Model

Shuang Li, Yihuai Gao, Dorsa Sadigh, Shuran Song
RSS 2025
Webpage • Paper • Code+Model

RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity

Xiaomeng Xu, Dominik Bauer, Shuran Song
RSS 2025
Webpage • Paper • Hardware+Code

Self-Improving Autonomous Underwater Manipulation

Ruoshi Liu, Huy Ha, Mengxue Hou, Shuran Song, Carl Vondrick
ICRA 2025
Webpage • Paper • Code

Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control

Yifan Hou, Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, and Shuran Song
ICRA 2025
Webpage • Paper • Code

GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization

Austin Patel and Shuran Song
ICRA 2025
Webpage • Paper • Code

Real2Code: Reconstruct Articulated Objects via Code Generation

Zhao Mandi, Yijia Weng, Dominik Bauer, Shuran Song
ICRL 2025
Webpage • Paper • Code

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg
Conference on Robot Learning (CoRL 2024)
Webpage • Paper • Code Hardware Guide

Differentiable Robot Rendering

Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick
Conference on Robot Learning (CoRL 2024)
Webpage • Paper • Code

Flow as the Cross-domain Manipulation Interface

Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song
Conference on Robot Learning (CoRL 2024)
Webpage • Paper • Code

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

Huy Ha*, Yihuai Gao*, Zipeng Fu, Jie Tan, Shuran Song
Conference on Robot Learning (CoRL 2024)
Webpage • Paper • Code

ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data

Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song
Conference on Robot Learning (CoRL 2024)
Webpage • Paper • Code

EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning

Jingyun Yang*, Zi-ang Cao*, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg
Conference on Robot Learning (CoRL 2024)
Webpage • Paper • Code

Dreamitate: Real-World Visuomotor Policy Learning via Video Generation

Junbang Liang*, Ruoshi Liu*, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave, Pavel Tokmakov, Shuran Song, Carl Vondrick
Conference on Robot Learning (CoRL 2024)
Webpage • Paper • Code

Dynamics-Guided Diffusion Model for Robot Manipulator Design

Xiaomeng Xu, Huy Ha, Shuran Song
Conference on Robot Learning (CoRL 2024)
Webpage • Paper • Code

PaperBot: Learning to Design Real-World Tools Using Paper

Ruoshi Liu, Junbang Liang, Sruthi Sudhakar, Huy Ha, Cheng Chi, Shuran Song, Carl Vondrick
arXiv 2024
Webpage • Paper • Code

DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects

Dominik Bauer, Zhenjia Xu, Shuran Song
ECCV 2024
Webpage • Paper • Code

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

Cheng Chi*, Zhenjia Xu*, Chuer Pan, Eric Cousineau, Ben Burchfiel, Siyuan Feng, Russ Tedrake, Shuran Song
RSS 2024
Outstanding System Paper Finalist • Webpage • Paper • Code

DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset

Alexander Khazatsky, Karl Pertsch et al
RSS 2024
Webpage • Paper • Code

RoCo: Dialectic Multi-Robot Collaboration with Large Language Models

Zhao Mandi, Shreeya Jain, Shuran Song
International Conference on Robotics and Automation (ICRA 2024)
Webpage • Paper • Code

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Abhishek Padalkar et al
International Conference on Robotics and Automation (ICRA 2024)
Best Paper Award • Webpage • Paper • Code

DataComp: In search of the next generation of multimodal datasets

Samir Yitzhak Gadre*, Gabriel Ilharco*, Alex Fang* et al.
NeurIPS, 2023 (oral)
Webpage • Paper • Code

Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition

Huy Ha, Pete Florence, Shuran Song
Conference on Robot Learning 2023
Webpage • Paper • Code

REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction

Zeyi Liu*, Arpit Bahety*, Shuran Song
Conference on Robot Learning 2023
Webpage • Paper • Code

XSkill: Cross Embodiment Skill Discovery

Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song
Conference on Robot Learning 2023
Webpage • Paper • Code

Rearrangement Planning for General Part Assembly

Yulong Li, Andy Zeng, Shuran Song
Conference on Robot Learning 2023
Oral Presentation • Webpage • Paper • Code

TidyBot: Personalized Robot Assistance with Large Language Models

Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser
Autonomous Robots (AuRo) - Special Issue: Large Language Models in Robotics, 2023
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Webpage • Paper • Code •

Structure From Action: Learning Interactions for Articulated Object 3D Structure Discovery

Neil Nie, Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Webpage • Paper

Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objects

Arpit Bahety*, Shreeya Jain*, Huy Ha, Nathalie Hager, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Webpage • Paper

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song
Robotics: Science and Systems (RSS) 2023
Webpage • Paper • Code •

RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects

Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song
Robotics: Science and Systems (RSS) 2023
Webpage • Paper • Code & Simulation •

CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation
(a.k.a Clip on Wheels)

Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, Shuran Song
Conference on Computer Vision and Pattern Recognition (CVPR 2022)
Webpage • Paper

Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation

Alper Canberk, Cheng Chi, Huy Ha, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song
International Conference on Robotics and Automation (ICRA 2023)
Webpage • Paper •

TANDEM3D: Active Tactile Exploration for 3D Object Recognition

Jingxi Xu*, Han Lin*, Shuran Song, Matei Ciocarlie
International Conference on Robotics and Automation (ICRA 2023)
Webpage • Paper •

Semantic Abstraction: Open-World 3D Scene Understanding from 2D Vision-Language Models

Huy Ha, Shuran Song
Conference on Robot Learning (CoRL2022)
Webpage • Paper • Code • Demo on Huggingface

BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment

Zeyi Liu, Zhenjia Xu, Shuran Song
Conference on Robot Learning (CoRL2022)
Webpage • Paper • Code

ASPiRe: Adaptive Skill Priors for Reinforcement Learning

Mengda Xu, Manuela Veloso, Shuran Song
Conference on Neural Information Processing Systems (NeurIPS 2022)
Webpage • Paper • Code

Patching open-vocabulary models by interpolating weights

Gabriel Ilharco*, Mitchell Wortsman*, Samir Yitzhak Gadre*, Shuran Song, Hannaneh Hajishirzi Simon Kornblith, Ali Farhadi, Ludwig Schmidt
Conference on Neural Information Processing Systems (NeurIPS 2022)
Webpage • Paper • Code

Iterative Residual Policy for Goal-Conditioned Dynamic Manipulation of Deformable Objects

Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song
Robotics: Science and Systems (RSS) 2022
Best Paper Award • Best Student Paper Finalist • Webpage • Paper • Code

DextAIRity: Deformable Manipulation Can be a Breeze

Zhenjia Xu, Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song
Robotics: Science and Systems (RSS) 2022
Best System Paper Finalist • Webpage • Paper • Code

Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower

Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas Funkhouser
Robotics and Automation Letters (RA-L) 2022
Intelligent Robots and Systems (IROS) 2022
Webpage • Paper • Code

FlingBot: The Unreasonable Effectiveness of Dynamic Manipulations for Cloth Unfolding

Huy Ha, Shuran Song
Conference on Robot Learning (CoRL2021)
Best System Paper Award • Webpage • Paper • Code

Fit2Form: 3D Generative Model for Robot Gripper Form Design

Huy Ha*, Shubham Agrawal*, Shuran Song
Conference on Robot Learning (CoRL) 2020
Webpage • Paper Code

Grasping in the Wild: Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations

Shuran Song, Andy Zeng, Johnny Lee, Thomas Funkhouser
Intelligent Robots and Systems (IROS) 2020
Robotics and Automation Letters (RA-L) 2020
Webpage • PDF

TANDEM: Learning Joint Exploration and Decision Making with Tactile Sensors

Jingxi Xu, Shuran Song, Matei Ciocarlie
Robotics and Automation Letters (RA-L) 2022
Intelligent Robots and Systems (IROS) 2022
Webpage • Paper

Scene Editing as Teleoperation: A Case Study in 6DoF Kit Assembly

Shubham Agrawal*, Yulong Li*, Jen-Shuo Liu, Steven K. Feiner, Shuran Song
Intelligent Robots and Systems (IROS) 2022
Webpage • Paper

Continuous Scene Representations for Embodied AI

Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song, Roozbeh Mottaghi,
Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2022)
Webpage • Paper

UMPNet: Universal Manipulation Policy Network for Articulated Objects
Zhenjia Xu, Zhanpeng He, Shuran Song
Robotics and Automation Letters (RA-L) and ICRA 2022
Webpage  •   Paper

FishGym: A High-Performance Physics-based Simulation Framework for Underwater Robot Learning
Wenji Liu, Kai Bai, Xuming He, Shuran Song, Changxi Zheng, and Xiaopei Liu
International Conference on Robotics and Automation (ICRA 2022)
Code  •   Paper

Leveraging SE(3) Equivariance for Self-supervised Category-Level Object Pose Estimation from Point Clouds
Xiaolong Li, Yijia Weng, Li Yi, Leonidas Guibas, A. Lynn Abbott, Shuran Song, He Wang
NeurIPS, 2021
Webpage  •   Paper  •   Code

GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion
Cheng Chi, Shuran Song
IEEE International Conference on Computer Vision (ICCV2021)
Webpage  •   Paper  •   Code

Act the Part: Learning Interaction Strategies for Articulated Object Part Discovery
Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song
IEEE International Conference on Computer Vision (ICCV2021)
Webpage (with online Demo!)  •   Paper  •   Code

Dynamic Grasping with Reachability and Motion Awareness
Iretiayo Akinola*, Jingxi Xu*, Shuran Song, and Peter Allen
International Conference on Intelligent Robots and Systems (IROS) 2021
Webpage  •   Paper

AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy
Zhenjia Xu, Beichun Qi, Shubham Agrawal, Shuran Song
International Conference on Robotics and Automation (ICRA 2021)
Webpage  •   Paper  •   Code

Spatial Intention Maps for Multi-Agent Mobile Manipulation
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas Funkhouser
International Conference on Robotics and Automation (ICRA 2021)
Webpage  •   Paper  •   Code

Visual Perspective Taking for Opponent Behavior Modeling
Boyuan Chen, Yuhang Hu, Robert Kwiatkowski, Shuran Song, Hod Lipson
International Conference on Robotics and Automation (ICRA 2021)
Webpage  •   Paper  •   Code

SSCNav: Confidence-Aware Semantic Scene Completion for Visual Semantic Navigation
Yiqing Liang, Boyuan Chen, Shuran Song
International Conference on Robotics and Automation (ICRA 2021)
Webpage  •   Paper  •   Code

Learning 3D Dynamic Scene Representations for Robot Manipulation
Zhenjia Xu*, Zhanpeng He*, Jiajun Wu, Shuran Song
Conference on Robot Learning (CoRL) 2020
Webpage  •   Paper  •   Code

Learning a Decentralized Multi-arm Motion Planner
Huy Ha, Jingxi Xu, Shuran Song
Conference on Robot Learning (CoRL) 2020
Webpage  •   Paper  •   Code

Multi-task Learning Increases Adversarial Robustness
Chengzhi Mao, Amogh Gupta, Vikram Nitin, Baishakhi Ray, Shuran Song, Junfeng Yang, Carl Vondrick
European Conference on Computer Vision (ECCV) 2020
Oral Presentation  •   PDF

Spatial Action Maps for Mobile Manipulation
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz, Thomas Funkhouser
Robotics: Science and Systems (RSS) 2020
Webpage  •   PDF

Category-Level Articulated Object Pose Estimation
Xiaolong Li, He Wang, Li Yi, Leonidas Guibas, A. Lynn Abbott, Shuran Song
Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020
Oral Presentation  •   Webpage  •   PDF

Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly
Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song
International Conference on Robotics and Automation (ICRA 2020)
Best Paper Award in Automation Finalist  •   Webpage  •   PDF

ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation
Shreeyak S. Sajjan, Matthew Moore, Mike Pan, Ganesh Nagaraja, Johnny Lee, Andy Zeng, Shuran Song
International Conference on Robotics and Automation (ICRA 2020)
Webpage  •   PDF

Learning to See before Learning to Act: Visual Pre-training for Manipulation
Lin Yen-Chen, Andy Zeng, Shuran Song, Phillip Isola, Tsung-Yi Lin
International Conference on Robotics and Automation (ICRA 2020)
Webpage  •   PDF

TossingBot: Learning to Throw Arbitrary Objects with Residual Physics
Andy Zeng, Shuran Song, Stefan Welker, Johnny Lee, Alberto Rodriguez, Thomas Funkhouser
Robotics: Science and Systems 2019 (RSS 2019)
IEEE Transactions on Robotics (T-RO 2020)
Best System Paper Award    Best Student Paper Finalist  •   Webpage  •   PDF

DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions
Zhenjia Xu, Jiajun Wu, Andy Zeng, Joshua Tenenbaum, Shuran Song
Robotics: Science and Systems 2019 (RSS 2019)
Webpage  •   PDF

Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation
He Wang, Srinath Sridhar, Jingwei Huang, Julien Valentin, Shuran Song , Leonidas J. Guibasi
Proceedings of 32th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2019)
Oral Presentation   •   Webpage  •   PDF

Neural Illumination: Lighting Prediction for Indoor Environments
Shuran Song and Thomas Funkhouser
Proceedings of 32th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2019)
Oral Presentation   •   Webpage  •   PDF

Neural Graph Matching Networks for Fewshot 3D Action Recognition
Michelle Guo, Edward Chou, Shuran Song, De-An Huang, Serena Yeung, Li Fei-Fei
European Conference on Computer Vision (ECCV2018)
PDF

Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
A. Zeng, S. Song, S. Welker, J. Lee, A. Rodriguez, T. Funkhouser
Intelligent Robots and Systems (IROS) 2020
Best Cognitive Robotics Paper Award Finalist   •   Webpage  •   PDF

Im2Pano3D: Extrapolating 360° Structure and Semantics Beyond the Field of View
S. Song, A. Zeng, A. X. Chang, M. Savva, S. Savarese, T. Funkhouser
Proceedings of 31th IEEE Conference on Computer Vision and Pattern Recognition CVPR2018
Oral Presentation   •   Webpage  •   PDF

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
A. Zeng, S. Song, K. Yu, E. Donlon, F. R. Hogan, M. Bauza, D. Ma, O. Taylor, M. Liu, E. Romo, N. Fazeli, F. Alet, N. C. Dafle, R. Holladay, I. Morona, P. Q. Nair, D. Green, I. Taylor, W. Liu, T. Funkhouser, A. Rodriguez (ICRA2018)
Amazon Robotics Best Systems Paper Award   •   Webpage  •   PDF

Semantic Scene Completion from a Single Depth Image
S. Song, F. Yu, A. Zeng, A. Chang, M. Savva, T. Funkhouser
Proceedings of 30th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2017)
Oral Presentation   •   Webpage  •   PDF

3DMatch: Learning the Matching of Local 3D Geometry in Range Scans
A. Zeng, S. Song, M. Nießner, M. Fisher, J. Xiao and T. Funkhouser.
Proceedings of 30th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2017)
Oral Presentation   •   Webpage  •   PDF

Physically-Based Rendering for Indoor Scene Understanding Using Convolutional Neural Networks
Y. Zhang^*, S. Song^*, E. Yumer, M. Savva, J. Lee, H. Jin, T. Funkhouser.
Proceedings of 30th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2017)
Oral Presentation   •   Webpage  •   PDF

Matterport3D: Learning from RGB-D Data in Indoor Environments
A. X. Chang, A. Dai, T. Funkhouser, M. Halber, M. Nießner, M. Savva, S. Song , A. Zeng, Y. Zhang
IEEE International Conference on 3D Vision (3DV 2017)
Webpage  •   PDF

Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge
A. Zeng, K.T. Yu, S. Song, D. Suo, E. Walker Jr., A. Rodriguez, and J. Xiao
International Conference on Robotics and Automation (ICRA2017)
Webpage  •   PDF

Deep Sliding Shapes for Amodal 3D Object Detection in RGB-D Images
S. Song, and J. Xiao.
Proceedings of 29th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2016)
Webpage  •   PDF

ShapeNet: An Information-Rich 3D Model Repository
A. Chang, T. Funkhouser, L. Guibas, P. Hanrahan, Q. Huang, Z. Li, S. Savarese, M. Savva, S. Song, H. Su, J. Xiao, L. Yi, and F. Yu.
arXiv:1512.03012 [cs.CV] 9 Dec 2015
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SUN RGB-D: A RGB-D Scene Understanding Benchmark Suite
S. Song, S. Lichtenberg and J. Xiao
Proceedings of 28th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2015)
Oral Presentation [Watch it on Techtalks]   •   Webpage  •   PDF

SUN RGB-D: A RGB-D Scene Understanding Benchmark Suite
Z. Wu, S. Song, A. Khosla, F. Yu, L. Zhang, X. Tang and J. Xiao
Proceedings of 28th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2015)
Oral Presentation [Watch it on Techtalks]   •   Webpage  •   PDF

Robot In a Room: Toward Perfect Object Recognition in Closed Environments
S. Song, L. Zhang, and J. Xiao.
arXiv:1507.02703 [cs.CV] 9 Jul 2015
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Construction of a Large-scale Image Dataset using Deep Learning with Humans in the Loop
F. Yu, A. Seff, Y. Zhang, S. Song and J. Xiao.
arXiv:1506.03365 [cs.CV] 10 Jun 2015
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Sliding Shapes for 3D Object Detection in Depth Images
S. Song and J. Xiao
Proceedings of the 13th European Conference on Computer Vision (ECCV2014)
Oral Presentation [Watch it on Videolectures]   •   Webpage  •   PDF

PanoContext: A Whole-room 3D Context Model for Panoramic Scene Understanding
Y. Zhang, S. Song, P. Tan, and J. Xiao
Proceedings of the 13th European Conference on Computer Vision (ECCV2014)
Oral Presentation [Watch it on Videolectures]   •   Webpage  •   PDF

Tracking Revisited using RGBD Camera: Unified Benchmark and Baselines
S. Song and J. Xiao
Proceedings of 14th IEEE International Conference on Computer Vision (ICCV2013)
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Teaching

EE/CS227: Robot Perception

EE/CS 381: Sensorimotor Learning for Embodied Agents

COMS 4733 Computational Aspects of Robotics, 2020-2023

COMS 6998 Topics in Robot Learning, 2020-2023