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Shuran Song

Google, Columbia University

Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimation


Oct 30, 2021
Xiaolong Li, Yijia Weng, Li Yi, Leonidas Guibas, A. Lynn Abbott, Shuran Song, He Wang

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* 20 pages, 11 figures 
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Scene Editing as Teleoperation: A Case Study in 6DoF Kit Assembly


Oct 09, 2021
Shubham Agrawal, Yulong Li, Jen-Shuo Liu, Steven K. Feiner, Shuran Song

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UMPNet: Universal Manipulation Policy Network for Articulated Objects


Sep 19, 2021
Zhenjia Xu, Zhanpeng He, Shuran Song

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Learning to See before Learning to Act: Visual Pre-training for Manipulation


Jul 01, 2021
Lin Yen-Chen, Andy Zeng, Shuran Song, Phillip Isola, Tsung-Yi Lin

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* Accepted to ICRA 2020. Porject page: http://yenchenlin.me/vision2action/ 
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Visual Perspective Taking for Opponent Behavior Modeling


May 11, 2021
Boyuan Chen, Yuhang Hu, Robert Kwiatkowski, Shuran Song, Hod Lipson

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* ICRA 2021. Website: http://www.cs.columbia.edu/~bchen/vpttob/ 
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FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding


May 08, 2021
Huy Ha, Shuran Song

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* 9 pages, 6 figures 
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Act the Part: Learning Interaction Strategies for Articulated Object Part Discovery


May 03, 2021
Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song

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* 16 pages, 16 figures 
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GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion


Apr 12, 2021
Cheng Chi, Shuran Song

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Spatial Intention Maps for Multi-Agent Mobile Manipulation


Mar 23, 2021
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas Funkhouser

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* To appear at IEEE International Conference on Robotics and Automation (ICRA), 2021. Project page: https://spatial-intention-maps.cs.princeton.edu/ 
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Dynamic Grasping with Reachability and Motion Awareness


Mar 18, 2021
Iretiayo Akinola, Jingxi Xu, Shuran Song, Peter K. Allen

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SSCNav: Confidence-Aware Semantic Scene Completion for Visual Semantic Navigation


Dec 08, 2020
Yiqing Liang, Boyuan Chen, Shuran Song

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Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop


Dec 07, 2020
Sebastian Höfer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa, Florian Golemo, Melissa Mozifian, Chris Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White

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* Summary of the "2nd Workshop on Closing the Reality Gap in Sim2Real Transfer for Robotics" held in conjunction with "Robotics: Science and System 2020". Website: https://sim2real.github.io/ 
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AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy


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

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* 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

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* 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

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* 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

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* 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

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* 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

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* 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

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* 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

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* 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

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* 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

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* 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

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* 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

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* 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

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* 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

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* 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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