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Shuran Song

Google, Columbia University

AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy

Dec 03, 2020
Zhenjia Xu, Beichun Qi, Shubham Agrawal, Shuran Song

* Project page: https://adagrasp.cs.columbia.edu 

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Fit2Form: 3D Generative Model for Robot Gripper Form Design

Nov 12, 2020
Huy Ha, Shubham Agrawal, Shuran Song

* Conference on Robot Learning 2020 

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Learning a Decentralized Multi-arm Motion Planner

Nov 05, 2020
Huy Ha, Jingxi Xu, Shuran Song

* CoRL 2020 

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Learning 3D Dynamic Scene Representations for Robot Manipulation

Nov 03, 2020
Zhenjia Xu, Zhanpeng He, Jiajun Wu, Shuran Song

* CoRL 2020. The first two authors contributed equally to this paper. Project page: https://dsr-net.cs.columbia.edu/ 

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Multitask Learning Strengthens Adversarial Robustness

Jul 14, 2020
Chengzhi Mao, Amogh Gupta, Vikram Nitin, Baishakhi Ray, Shuran Song, Junfeng Yang, Carl Vondrick


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Spatial Action Maps for Mobile Manipulation

Apr 20, 2020
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz, Thomas Funkhouser

* Project webpage: https://spatial-action-maps.cs.princeton.edu 

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Category-Level Articulated Object Pose Estimation

Dec 26, 2019
Xiaolong Li, He Wang, Li Yi, Leonidas Guibas, A. Lynn Abbott, Shuran Song

* 13 pages, 7 figures 

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

Dec 09, 2019
Shuran Song, Andy Zeng, Johnny Lee, Thomas Funkhouser

* Project Webpage https://graspinwild.cs.columbia.edu/ 

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Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly

Oct 30, 2019
Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song

* Code, videos, and supplemental material are available at https://form2fit.github.io/ 

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Visual Hide and Seek

Oct 15, 2019
Boyuan Chen, Shuran Song, Hod Lipson, Carl Vondrick

* 14 pages, 8 figures 

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ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation

Oct 14, 2019
Shreeyak S. Sajjan, Matthew Moore, Mike Pan, Ganesh Nagaraja, Johnny Lee, Andy Zeng, Shuran Song

* Project Website: https://sites.google.com/view/cleargrasp, 13 pages, 13 figures, submitted to ICRA 

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Neural Illumination: Lighting Prediction for Indoor Environments

Jun 18, 2019
Shuran Song, Thomas Funkhouser


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DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions

Jun 11, 2019
Zhenjia Xu, Jiajun Wu, Andy Zeng, Joshua B. Tenenbaum, Shuran Song

* RSS 2019. Project page: http://zhenjiaxu.com/DensePhysNet 

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TossingBot: Learning to Throw Arbitrary Objects with Residual Physics

Mar 27, 2019
Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriguez, Thomas Funkhouser

* Summary Video: https://youtu.be/f5Zn2Up2RjQ Project webpage: https://tossingbot.cs.princeton.edu 

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Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation

Jan 09, 2019
He Wang, Srinath Sridhar, Jingwei Huang, Julien Valentin, Shuran Song, Leonidas J. Guibas


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Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning

Sep 30, 2018
Andy Zeng, Shuran Song, Stefan Welker, Johnny Lee, Alberto Rodriguez, Thomas Funkhouser

* To appear at the International Conference On Intelligent Robots and Systems (IROS) 2018. Project webpage: http://vpg.cs.princeton.edu Summary video: https://youtu.be/-OkyX7ZlhiU 

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Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

Apr 01, 2018
Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez

* To appear at the International Conference on Robotics and Automation (ICRA) 2018. Project webpage: http://arc.cs.princeton.edu Summary video: https://youtu.be/6fG7zwGfIkI 

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Im2Pano3D: Extrapolating 360 Structure and Semantics Beyond the Field of View

Dec 12, 2017
Shuran Song, Andy Zeng, Angel X. Chang, Manolis Savva, Silvio Savarese, Thomas Funkhouser

* Video summary: https://youtu.be/Au3GmktK-So 

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Matterport3D: Learning from RGB-D Data in Indoor Environments

Sep 18, 2017
Angel Chang, Angela Dai, Thomas Funkhouser, Maciej Halber, Matthias Nießner, Manolis Savva, Shuran Song, Andy Zeng, Yinda Zhang


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Physically-Based Rendering for Indoor Scene Understanding Using Convolutional Neural Networks

Jul 02, 2017
Yinda Zhang, Shuran Song, Ersin Yumer, Manolis Savva, Joon-Young Lee, Hailin Jin, Thomas Funkhouser

* Updates camera ready version. Accepted by CVPR 2017 

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Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge

May 07, 2017
Andy Zeng, Kuan-Ting Yu, Shuran Song, Daniel Suo, Ed Walker Jr., Alberto Rodriguez, Jianxiong Xiao

* To appear at the International Conference on Robotics and Automation (ICRA) 2017. Project webpage: http://apc.cs.princeton.edu/ 

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3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions

Apr 09, 2017
Andy Zeng, Shuran Song, Matthias Nießner, Matthew Fisher, Jianxiong Xiao, Thomas Funkhouser

* To appear at the Conference on Computer Vision and Pattern Recognition (CVPR) 2017. Project webpage: http://3dmatch.cs.princeton.edu 

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Semantic Scene Completion from a Single Depth Image

Nov 28, 2016
Shuran Song, Fisher Yu, Andy Zeng, Angel X. Chang, Manolis Savva, Thomas Funkhouser


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LSUN: Construction of a Large-scale Image Dataset using Deep Learning with Humans in the Loop

Jun 04, 2016
Fisher Yu, Ari Seff, Yinda Zhang, Shuran Song, Thomas Funkhouser, Jianxiong Xiao


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Deep Sliding Shapes for Amodal 3D Object Detection in RGB-D Images

Mar 09, 2016
Shuran Song, Jianxiong Xiao


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ShapeNet: An Information-Rich 3D Model Repository

Dec 09, 2015
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


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Robot In a Room: Toward Perfect Object Recognition in Closed Environments

Jul 09, 2015
Shuran Song, Linguang Zhang, Jianxiong Xiao


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3D ShapeNets: A Deep Representation for Volumetric Shapes

Apr 15, 2015
Zhirong Wu, Shuran Song, Aditya Khosla, Fisher Yu, Linguang Zhang, Xiaoou Tang, Jianxiong Xiao

* to be appeared in CVPR 2015 

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Tracking Revisited using RGBD Camera: Baseline and Benchmark

Dec 12, 2012
Shuran Song, Jianxiong Xiao


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