-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathindex.html
More file actions
1870 lines (1526 loc) · 119 KB
/
Copy pathindex.html
File metadata and controls
1870 lines (1526 loc) · 119 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
<!DOCTYPE HTML>
<html>
<head>
<title>Shuran Song</title>
<meta charset="utf-8" />
<meta name="viewport" content="width=1000">
<link rel="stylesheet" href="https://use.typekit.net/quv7bsd.css"> <!-- fonts -->
<link rel="stylesheet" href="style.css" />
<script>
(function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
(i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
})(window,document,'script','https://www.google-analytics.com/analytics.js','ga');
ga('create', 'UA-89797207-1', 'auto');
ga('send', 'pageview');
</script>
</head>
<body id="body">
<div id="main">
<header id="header">
<a href="index.html">HOME</a> /
<a href="https://real.stanford.edu/">LAB</a>
</header>
<div id="profile">
<div id="profile-pic">
<img src="images/people/shuran_song.jpg">
<p>
<a href="https://scholar.google.com/citations?hl=en&user=5031vK4AAAAJ&view_op=list_works&sortby=pubdate">Google Scholar</a> / <a href="https://twitter.com/SongShuran">Twitter</a>
</p>
</div>
<div id="profile-intro">
<div id="profile-name">Shuran Song</div>
<p>
Assistant Professor of Electrical Engineering, by courtesy, of Computer Science at <a href="http://stanford.edu/"> Stanford University</a> <br>
I lead the Robotics and Embodied AI Lab at Stanford University(<a href="https://real.stanford.edu/"> REAL@Stanford </a>). 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 <a href="https://real.stanford.edu/"> REAL website</a>.
<p>
Email: shuran [at] stanford [dot] edu <br>
Office: RM258, 350 Jane Stanford Way Packard Bldg Stanford, CA 94305.
</p>
</div>
<div style="clear: both;"></div>
</div>
<div class="section recent-work">
<div class="slider">
<!-- <a href="https://umi-on-legs.github.io/"><video playsinline="" muted="" autoplay="" loop="">
<source src="images/projects/umi-on-leg.mp4" type="video/mp4">
</video>
</a> -->
<a href="https://umi-data.github.io/"><video playsinline="" muted="" autoplay="" loop="">
<source src="images/projects/umi-data.mp4" type="video/mp4">
</video>
</a>
<a href="https://umi-gripper.github.io/"><video playsinline="" muted="" autoplay="" loop="">
<source src="images/projects/umi_thumbnail.mp4" type="video/mp4">
</video>
</a>
<a href="http://diffusion-policy.cs.columbia.edu/"><img src="images/projects/diffusion.gif"></a>
<a href="http://dextairity.cs.columbia.edu/"><img src="images/projects/air.gif"></a>
<a href="http://irp.cs.columbia.edu/"><img src="images/projects/irp.jpeg"></a>
<a href="http://flingbot.cs.columbia.edu/"><img src="https://flingbot.cs.columbia.edu/images/teaser.png"></a>
<!-- <a href="https://tossingbot.cs.princeton.edu/"><img src="images/projects/tossingbot.png"></a> -->
<!-- <a href="http://dsr-net.cs.columbia.edu/"><img src="images/projects/dsr.gif"></a> -->
<!-- <a href="http://graspinwild.cs.columbia.edu/"><img src="images/projects/graspinwild.jpg"></a> -->
<!-- <a href="http://form2fit.github.io/"><img src="images/projects/form2fit.png"></a> -->
<!-- <a href="https://sites.google.com/view/cleargrasp"><img src="images/projects/cleargrasp.gif"></a> -->
<!-- <a href="https://spatial-action-maps.cs.princeton.edu/"><img src="images/projects/sam.png"></a> -->
</div>
</div>
<div class="divider"></div>
<div class="section">
<h1>Recent Talks</h1>
<p>
<ul>
<li> Cross-Embodiment Learning for Dexterous Manipulation
(<a href="https://www.youtube.com/watch?v=cUKNbwqElCw"> Recording </a>) at <a href="https://sites.google.com/view/dexterity-workshop-icra2025/home"> Handy Moves Workshop</a> @ ICRA'25 </li>
<li> Self-Adaptive Robots
(<a href="https://www.dropbox.com/scl/fi/qkfka04zepcj4vydnhcd3/RSS_EARL.pdf?rlkey=ukg014p9rkz9fgh25theyozjk&dl=0"> Slides </a>) at <a href="https://earl.robot-learning.net/"> Workshop on Embodiment-Aware Robot Learning (EARL) </a> @ RSS'24 </li>
<li> Navigating the Upward Spiral for Sensorimotor Learning
(<a href="https://www.dropbox.com/scl/fi/6j07bw2pxg96gqrmq008z/ICRA24_futureroadmap.pdf?rlkey=pv7ht9g1d8deakbdht5j7u6y0&dl=0"> Slides </a>) Keynote at <a href="https://icra-manipulation-skill.github.io/"> A Future Roadmap for Sensorimotor Skill Learning for Robot Manipulation </a> @ ICRA’24 </li>
<li> What I wish I had for Robot Learning
(<a href="https://www.dropbox.com/scl/fi/obcik2tpg7py3i86yczrv/CoRL23_conference.pdf?rlkey=bunk5ptmwjbdqclwe47jnkl8b&dl=0"> Slides </a>) Early Career Keynote at <a href="https://www.corl2023.org/speakers">Conference on Robot Learning </a> </li>
<li> Learning Meets Gravity: Robots that Embrace Dynamics and Pixels
(<a href="https://www.ri.cmu.edu/event/learning-meets-gravity-robots-that-learn-to-embrace-dynamics-from-data/"> Talk </a>) at CMU Robotics Institute</li>
<span id="moreTalks">
<li> Abstraction as Inductive Bias: Open-World 3D Scene Understanding without Open-World 3D Data
(<a href="https://www.cs.columbia.edu/~shurans/talks/CoRL_inductive_bias.pdf"> Slide </a>) at <a href="https://sites.google.com/view/corl-2022-inductive-bias-ws/home?authuser=0"> Inductive Bias in Robot Learning Workshop</a> @ CoRL'22</li>
<li> The Reasonable Effectiveness of Dynamic Manipulation for Deformable Objects(<a href="https://www.youtube.com/watch?v=Pia-V67ishw&ab_channel=UniversityofTorontoRoboticsInstitute"> Talk </a>) at University of Toronto Robotics Institute </li>
<li> Structure from Action: Articulated Object Structure Discovery with Active Interactions (<a href="https://www.cs.columbia.edu/~shurans/talks/StrcturefromAction.pdf"> Slides </a>) at ICCV <a href="https://geometry.stanford.edu/struco3d/"> Struco3D Workshop </a> </li>
<li> Self-Adaptive Manipulation (<a href="https://www.cs.columbia.edu/~shurans/talks/self-adaptive-grasping.pdf"> Slides </a>) (<a href="https://www.youtube.com/watch?v=f2OZPwhSQu4&ab_channel=AllenInstituteforAI"> Talk </a>) </li>
<li>Unfolding the Unseen: Deformable Cloth Perception and Manipulation (<a href="https://www.cs.columbia.edu/~shurans/talks/unfold_unsceen.m4v"> Slides Video </a> <a href="https://www.cs.columbia.edu/~shurans/talks/Cloth_Precpetion.pdf"> PDF</a>) (<a href="https://www.youtube.com/watch?v=Ek20Zw77QPU&ab_channel=3DGVSeminar"> Talk </a>) </li>
<li>Active Scene Understanding with Robot Interactions (<a href="https://www.cs.columbia.edu/~shurans/talks/2020_active_scene.pdf"> Slides </a>) </li>
<li>Category-level Pose Estimation (<a href="https://www.cs.columbia.edu/~shurans/talks/Pose_Estimation_ECCV_2020.pdf"> Slides </a>) at ECCV2020 <a href="http://cmp.felk.cvut.cz/sixd/workshop_2020/"> Workshop on Recovering 6D Object Pose </a></li>
<li>Learning Visual Representations for Generalizable Manipulation (<a href="https://www.cs.columbia.edu/~shurans/talks/visualrep_manuplation_cvpr2020.pdf"> Slides </a>) at CVPR2020 <a href="https://scene-understanding.com/"> 3D Scene Understanding for Vision, Graphics, and Robotics </a></li>
</span>
<div onclick="toggleTalks()" id="moreTalksBtn" class="showBtn"><a>Show more...</a></div>
<div onclick="toggleTalks()" id="lessTalksBtn" class="showBtn"><a>Show less...</a></div>
</ul>
</p>
<div style="clear: both;"></div>
</div>
<div class="divider"></div>
<div class="section research">
<h1>Publications</h1>
<div class="research-proj">
<a href="https://gated-memory-policy.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/GMP.mp4" type="video/mp4">
</video>
</a>
<a href="https://gated-memory-policy.github.io/" class="research-proj-title"> Gated Memory Policy: In-Context Memorization and Adaptation</a>
<p> Yihuai Gao, Jinyun Liu, Shuang Li, Shuran Song<br>
arxiv 2026 <br>
<a href="https://gated-memory-policy.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2604.18933">Paper</a> •
<a href="https://github.com/real-stanford/gated-memory-policy">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://zhanyisun.github.io/dice.rl.2026/" class="research-thumb">
<img src="images/projects/DICE-RL.png" alt="" />
</a>
<a href="https://zhanyisun.github.io/dice.rl.2026/" class="research-proj-title"> From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning</a>
<p> Zhanyi Sun, Shuran Song<br>
ICML 2026 <br>
<a href="https://zhanyisun.github.io/dice.rl.2026/">Webpage</a> •
<a href="https://arxiv.org/pdf/2603.10263">Paper</a> •
<a href="https://zhanyisun.github.io/dice.rl.2026/">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://project-dexmachina.github.io/" class="research-thumb">
<img src="images/projects/DexMachina.png" alt="" />
</a>
<a href="https://project-dexmachina.github.io/" class="research-proj-title">DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation</a>
<p> Zhao Mandi, Yifan Hou, Dieter Fox, Yashraj Narang, Ajay Mandlekar, Shuran Song <br>
ICML 2026 <br>
<a href="https://project-dexmachina.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2505.24853">Paper</a> •
<a href="https://project-dexmachina.github.io/">Code</a>
</p>
</div>
<!-- <div class="research-proj">
<a href="https://openreview.net/forum?id=UZF4ssK12K" class="research-thumb">
<img src="images/projects/DF-ExpEnse.png" alt="" />
</a>
<a href="https://openreview.net/forum?id=UZF4ssK12K" class="research-proj-title">DF-ExpEnse: Diffusion Filtered Exploration for Sample Efficient Finetuning</a>
<p> Calvin Luo, Chen Sun, Shuran Song <br>
ICML 2026 <br>
<a href="https://openreview.net/forum?id=UZF4ssK12K">Paper</a> •
<a href="">Code</a>
</p>
</div> -->
<div class="research-proj">
<a href="https://minimalist-compliance-control.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/MCC.mp4" type="video/mp4">
</video>
</a>
<a href="https://minimalist-compliance-control.github.io/" class="research-proj-title">Minimalist Compliance Control </a>
<p> Haochen Shi*, Songbo Hu*, Yifan Hou, Weizhuo Wang, C. Karen Liu†, Shuran Song† <br>
RSS 2026 <br>
<a href="https://minimalist-compliance-control.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2603.00913">Paper</a> •
<a href="https://github.com/real-stanford/minimalist_compliance_control">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://hommi-robot.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/hommi.mp4" type="video/mp4">
</video>
</a>
<a href="https://hommi-robot.github.io/" class="research-proj-title">HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations </a>
<p> Xiaomeng Xu, Jisang Park, Han Zhang, Eric Cousineau, Aditya Bhat, Jose Barreiros, Dian Wang, Jeannette bohg, Shuran Song<br>
RSS 2026 <br>
<a href="https://hommi-robot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2603.03243">Paper</a> •
<a href="https://github.com/xxm19/hommi">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-under-water.github.io/" class="research-thumb">
<img src="images/projects/umi-underwater.png" alt="" />
</a>
<a href="https://umi-under-water.github.io/" class="research-proj-title">UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation </a>
<p> Hao Li*, Long Yin Chung*, Jack Goler, Ryan Zhang, Xiaochi Xie, Huy Ha, Shuran Song, Mark Cutkosky <br>
RSS 2026 <br>
<a href="https://umi-under-water.github.io/">Webpage</a> •
<a href="https://umi-under-water.github.io/static/pdfs/UMI_Underwater.pdf">Paper</a> •
<a href="https://github.com/umi-under-water/UMI_underwater">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://egoverse.ai/" class="research-thumb">
<img src="images/projects/egoverse.png" alt="" />
</a>
<a href="https://egoverse.ai/" class="research-proj-title">EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World </a>
<p> EgoVerse team <br>
RSS 2026 <br>
<a href="https://egoverse.ai/">Webpage</a> •
<a href="https://arxiv.org/abs/2604.07607">Paper</a> •
<a href="https://github.com/GaTech-RL2/EgoVerse">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-ft.github.io/" class="research-thumb">
<img src="images/projects/UMIFT.png" alt="" />
</a>
<a href="https://umi-ft.github.io/" class="research-proj-title">In-the-Wild Compliant Manipulation with UMI-FT </a>
<p> Hojung Choi*, Yifan Hou*, Chuer Pan, Seongheon Hong, Austin Patel, Xiaomeng Xu, Mark Cutkosky, and Shuran Song<br>
ICRA 2026 <br>
<a href="https://umi-ft.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2601.09988">Paper</a> •
<a href="https://docs.google.com/document/d/e/2PACX-1vRrfSfjj3ct5u4bdyJYX92zH3QwZahU1D0nfb9wjb6GqDXqEZYVsaxwcCh1gwJgjRlq1fbgLJECGoPf/pub">Hardware</a> </a> •
<a href="https://github.com/real-stanford/UMI-FT">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-on-air.github.io/" class="research-thumb">
<img src="images/projects/umi-on-air.png" alt="" />
</a>
<a href="https://umi-on-air.github.io/" class="research-proj-title">UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies</a>
<p> Harsh Gupta, Xiaofeng Gao, Huy Ha, Chuer Pan, Muqing Cao, Dongjae Lee, Sebastian Scherer, Shuran Song, Guanya Shi <br>
ICRA 2026 <br>
<a href="https://umi-on-air.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2510.02614">Paper</a> •
<a href="https://umi-on-air.github.io/">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://sites.google.com/view/snoopie" class="research-thumb">
<img src="images/projects/Pacerbot.png" alt="" />
</a>
<a href="https://sites.google.com/view/snoopie" class="research-proj-title">Will People Enjoy a Robot Trainer? A Case Study with Snoopie the Pacerbot</a>
<p> Maximilian Du, Jennifer Grannen, Shuran Song, Dorsa Sadigh <br>
ICRA 2026 <br>
<a href="https://sites.google.com/view/snoopie">Webpage</a> •
<a href="https://sites.google.com/view/snoopie">Paper</a> •
</p>
</div>
<div class="research-proj">
<a href="https://locomotion-beyond-feet.github.io/" class="research-thumb">
<img src="images/projects/locomotion.png" alt="" />
</a>
<a href="https://locomotion-beyond-feet.github.io/" class="research-proj-title"> Locomotion Beyond Feet</a>
<p> 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 <br>
arXiv 2025 <br>
<a href="https://locomotion-beyond-feet.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2601.03607">Paper</a> •
<a href="https://github.com/hshi74/toddlerbot">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://robotgen4d.github.io/" class="research-thumb">
<img src="images/projects/4d-gen.png" alt="" />
</a>
<a href="" class="research-proj-title"> Geometry-aware 4D Video Generation for Robot Manipulation</a>
<p> Zeyi Liu, Shuang Li, Eric Cousineau, Siyuan Feng, Benjamin Burchfiel, Shuran Song <br>
ICLR 2026 <br>
<a href="https://robotgen4d.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2507.01099">Paper</a> •
<a href="https://robotgen4d.github.io/">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://research.nvidia.com/labs/dir/cosmos-policy/" class="research-thumb">
<img src="images/projects/cosmos.png" alt="" />
</a>
<a href="" class="research-proj-title"> Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning</a>
<p> 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 <br>
ICLR 2026 <br>
<a href="https://research.nvidia.com/labs/dir/cosmos-policy/">Webpage</a> •
<a href="https://arxiv.org/abs/2601.16163">Paper</a> •
<a href="https://github.com/nvlabs/cosmos-policy">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://project-latentpolicybarrier.github.io/" class="research-thumb">
<img src="images/projects/LatentPolicyBarrier.png" alt="" />
</a>
<a href="https://project-latentpolicybarrier.github.io/" class="research-proj-title">Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution</a>
<p> Zhanyi Sun, Shuran Song <br>
NeurIPS 2025 <br>
<strong> Spotlight Presentation </strong> •
<a href="https://project-latentpolicybarrier.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2508.05941">Paper</a> •
<a href="https://project-latentpolicybarrier.github.io/">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://dynaguide.github.io/" class="research-thumb">
<img src="images/projects/DynaGuide.png" alt="" />
</a>
<a href="https://dynaguide.github.io/" class="research-proj-title">DynaGuide: Steering Diffusion Policies with Active Dynamic Guidance</a>
<p> Max Du, Shuran Song <br>
NeurIPS 2025 <br>
<a href="https://dynaguide.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2506.13922">Paper</a> •
<a href="http://github.com/MaxDu17/DynaGuide">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://compliant-residual-dagger.github.io/" class="research-thumb">
<img src="images/projects/CRDagger.png" alt="" />
</a>
<a href="https://compliant-residual-dagger.github.io/" class="research-proj-title">Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections</a>
<p> Xiaomeng Xu, Yifan Hou, Chendong Xin, Zeyi Liu, Shuran Song <br>
NeurIPS 2025 <br>
<a href="https://compliant-residual-dagger.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2506.16685">Paper</a> •
<a href="https://compliant-residual-dagger.github.io/">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://arxiv.org/abs/2505.13431" class="research-thumb">
<img src="images/projects/SymmetryDiffusion.png" alt="" />
</a>
<a href="https://arxiv.org/abs/2505.13431" class="research-proj-title">A Practical Guide for Incorporating Symmetry in Diffusion Policy</a>
<p> Dian Wang, Boce Hu, Shuran Song, Robin Walters, Robert Platt <br>
NeurIPS 2025 <br>
<a href="https://arxiv.org/abs/2505.13431">Paper</a>
</p>
</div>
<div class="research-proj">
<a href="https://rectified-pointflow.github.io/" class="research-thumb">
<img src="images/projects/rpf.png" alt="" />
</a>
<a href="https://rectified-pointflow.github.io/" class="research-proj-title">Rectified Point Flow: Generic Point Cloud Pose Estimation</a>
<p> Tao Sun, Liyuan Zhu, Shengyu Huang, Shuran Song, Iro Armeni <br>
NeurIPS 2025 <br>
<strong> Spotlight Presentation </strong> •
<a href="https://rectified-pointflow.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2506.05282">Paper</a> •
<a href="https://github.com/GradientSpaces/Rectified-Point-Flow">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://dex-umi.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/dexumi_thumbnail.mp4" type="video/mp4">
</video>
</a>
<a href="https://dex-umi.github.io/" class="research-proj-title"> DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation </a>
<p> Mengda Xu*, Han Zhang*, Yifan Hou, Zhenjia Xu, Linxi Fan, Manuela Veloso, Shuran Song <br>
CoRL 2025 <br>
<strong>Best Paper Finalist</strong> •
<strong>Oral Presentation</strong> •
<a href="https://dex-umi.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2505.21864v2">Paper</a> •
<a href="https://github.com/real-stanford/DexUMI">Code</a> •
<a href="https://dex-umi.github.io/tutorial/hardware.html">Hardware</a>
</p>
</div>
<div class="research-proj">
<a href="https://vision-in-action.github.io/" class="research-thumb">
<img src="images/projects/via.png" alt="" />
</a>
<a href="https://vision-in-action.github.io/" class="research-proj-title"> Vision in Action: Learning Active Perception from Human Demonstrations </a>
<p> Haoyu Xiong, Xiaomeng Xu, Jimmy Wu, Yifan Hou, Jeannette Bohg, Shuran Song <br>
CoRL 2025 <br>
<a href="https://vision-in-action.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2506.15666">Paper</a> •
<a href="https://github.com/haoyu-x/vision-in-action">Code</a> •
<a href="https://github.com/haoyu-x/vision-in-action/tree/main/hardware">Hardware</a>
</p>
</div>
<div class="research-proj">
<a href="https://robot-trains-robot.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/rtr.mp4" type="video/mp4">
</video>
</a>
<a href="https://robot-trains-robot.github.io/" class="research-proj-title"> Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids </a>
<p> Kaizhe Hu*, Haochen Shi*, Yao He, Weizhuo Wang, C. Karen Liu†, Shuran Song† <br>
CoRL 2025 <br>
<a href="https://robot-trains-robot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2508.12252">Paper</a> •
<a href="https://robot-trains-robot.github.io/">Code</a> •
<a href="https://robot-trains-robot.github.io/">Hardware</a>
</p>
</div>
<div class="research-proj">
<a href="https://toddlerbot.github.io/" class="research-thumb">
<img src="images/projects/Toddy.png" alt="" />
</a>
<a href="https://toddlerbot.github.io/" class="research-proj-title"> ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation </a>
<p> Haochen Shi, Weizhuo Wang, Shuran Song, C. Karen Liu <br>
CoRL 2025 <br>
<a href="https://toddlerbot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2502.00893">Paper</a> •
<a href="https://toddlerbot.github.io/">Hardware+Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://sites.google.com/view/1001-demos-corl" class="research-thumb">
<img src="images/projects/1001Demo.png" alt="" />
</a>
<a href="https://sites.google.com/view/1001-demos-corl" class="research-proj-title"> One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies</a>
<p> Chuer Pan, Litian Liang, Dominik Bauer, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Shuran Song <br>
CoRL 2025 <br>
<a href="https://sites.google.com/view/1001-demos-corl">Webpage</a> •
<a href="https://sites.google.com/view/1001-demos-corl">Paper</a> •
<a href="https://sites.google.com/view/1001-demos-corl">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://behavior-robot-suite.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/brs.mp4" type="video/mp4">
</video>
</a>
<a href="https://behavior-robot-suite.github.io/" class="research-proj-title"> BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities </a>
<p> Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, Li Fei-Fei <br>
CoRL 2025
<a href="https://behavior-robot-suite.github.io/">Webpage</a> •
<a href="https://behavior-robot-suite.github.io/">Paper</a> •
</p>
</div>
<div class="research-proj">
<a href="https://unified-video-action-model.github.io/" class="research-thumb">
<img src="images/projects/UVA.png" alt="" />
</a>
<a href="https://unified-video-action-model.github.io/" class="research-proj-title"> Unified Video Action Model </a>
<p> Shuang Li, Yihuai Gao, Dorsa Sadigh, Shuran Song <br>
RSS 2025 <br>
<a href="https://unified-video-action-model.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2503.00200">Paper</a> •
<a href="https://unified-video-action-model.github.io/">Code+Model</a>
</p>
</div>
<br>
<div class="research-proj">
<a href="https://robopanoptes.github.io//" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/robopanotes.mp4" type="video/mp4">
</video>
</a>
<a href="https://robopanoptes.github.io/" class="research-proj-title"> RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity </a>
<p> Xiaomeng Xu, Dominik Bauer, Shuran Song <br>
RSS 2025 <br>
<a href="https://robopanoptes.github.io/"> Webpage</a> •
<a href="https://arxiv.org/abs/2501.05420"> Paper</a> •
<a href="https://robopanoptes.github.io/"> Hardware+Code </a>
</p>
</div>
<br>
<div class="research-proj">
<a href="https://aquabot.cs.columbia.edu/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/aquabot.mp4" type="video/mp4">
</video>
</a>
<a href="https://aquabot.cs.columbia.edu/" class="research-proj-title"> Self-Improving Autonomous Underwater Manipulation </a>
<p> Ruoshi Liu, Huy Ha, Mengxue Hou, Shuran Song, Carl Vondrick <br>
ICRA 2025 <br>
<a href="https://aquabot.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2410.18969">Paper</a> •
<a href="https://github.com/cvlab-columbia/aquabot">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://adaptive-compliance.github.io/" class="research-thumb">
<img src="images/projects/acp.gif" alt="" />
</a>
<a href="https://adaptive-compliance.github.io/" class="research-proj-title"> Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control </a>
<p> Yifan Hou, Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, and Shuran Song <br>
ICRA 2025 <br>
<a href="https://adaptive-compliance.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2410.09309">Paper</a> •
<a href="https://github.com/yifan-hou/adaptive_compliance_policy">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://get-zero-paper.github.io/" class="research-thumb">
<img src="images/projects/get-zero.png" alt="" />
</a>
<a href="https://get-zero-paper.github.io/" class="research-proj-title"> GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization </a>
<p> Austin Patel and Shuran Song <br>
ICRA 2025 <br>
<a href="https://get-zero-paper.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2407.15002">Paper</a> •
<a href="https://github.com/real-stanford/get_zero">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://real2code.github.io/" class="research-thumb">
<img src="images/projects/real2code.png" alt="" />
</a>
<a href="https://real2code.github.io/" class="research-proj-title">Real2Code: Reconstruct Articulated Objects via Code Generation</a>
<p> Zhao Mandi, Yijia Weng, Dominik Bauer, Shuran Song <br>
ICRL 2025 <br>
<a href="https://real2code.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2406.08474">Paper</a> •
<a href="https://github.com/MandiZhao/real2code">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://tidybot2.github.io/" class="research-thumb">
<img src="images/projects/wu2024tidybot.gif" alt="" />
</a>
<a href="https://tidybot2.github.io/" class="research-proj-title"> TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning </a>
<p> Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://tidybot2.github.io/">Webpage</a> •
<a href="https://tidybot2.github.io/">Paper</a> •
<a href="https://github.com/jimmyyhwu/tidybot2">Code </a>
<a href="https://tidybot2.github.io/docs/">Hardware Guide </a>
</p>
</div>
<div class="research-proj">
<a href="https://drrobot.cs.columbia.edu/" class="research-thumb">
<img src="images/projects/drrobot.png" alt="" />
</a>
<a href="https://drrobot.cs.columbia.edu/" class="research-proj-title"> Differentiable Robot Rendering</a>
<p> Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick<br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://drrobot.cs.columbia.edu/">Webpage</a> •
<a href="https://drrobot.cs.columbia.edu/">Paper</a> •
<a href="https://drrobot.cs.columbia.edu/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://im-flow-act.github.io/" class="research-thumb">
<img src="images/projects/im2flow2act.png" alt="" />
</a>
<a href="https://im-flow-act.github.io/" class="research-proj-title"> Flow as the Cross-domain Manipulation Interface</a>
<p> Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://im-flow-act.github.io/">Webpage</a> •
<a href="https://im-flow-act.github.io/static/pdf/Flow_as_the_Cross_Domain_Manipulation_Interface.pdf">Paper</a> •
<a href="https://im-flow-act.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-on-legs.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/umi-on-leg.mp4" type="video/mp4">
</video>
</a>
<a href="https://umi-on-legs.github.io/" class="research-proj-title"> UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers </a>
<p> Huy Ha*, Yihuai Gao*, Zipeng Fu, Jie Tan, Shuran Song <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://umi-on-legs.github.io/">Webpage</a> •
<a href="https://umi-on-legs.github.io/">Paper</a> •
<a href="https://umi-on-legs.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://mani-wav.github.io/" class="research-thumb">
<img src="images/projects/maniwav.png" alt="" />
</a>
<a href="https://mani-wav.github.io/" class="research-proj-title"> ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data </a>
<p> Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://mani-wav.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2406.19464">Paper</a> •
<a href="https://mani-wav.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://equi-bot.github.io/" class="research-thumb">
<img src="images/projects/EquiBot.png" alt="" />
</a>
<a href="https://equi-bot.github.io/" class="research-proj-title"> EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning </a>
<p> Jingyun Yang*, Zi-ang Cao*, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://equi-bot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2407.01479">Paper</a> •
<a href="https://github.com/yjy0625/equibot">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://mani-wav.github.io/" class="research-thumb">
<img src="images/projects/dreamitate.gif" alt="" />
</a>
<a href="https://dreamitate.cs.columbia.edu/" class="research-proj-title"> Dreamitate: Real-World Visuomotor Policy Learning via Video Generation </a>
<p> Junbang Liang*, Ruoshi Liu*, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave, Pavel Tokmakov, Shuran Song, Carl Vondrick <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://dreamitate.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2406.16862">Paper</a> •
<a href="https://dreamitate.cs.columbia.edu/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://dgdm-robot.github.io/" class="research-thumb">
<img src="images/projects/dgdm.jpeg" alt="" />
</a>
<a href="https://dgdm-robot.github.io/" class="research-proj-title"> Dynamics-Guided Diffusion Model for Robot Manipulator Design </a>
<p> Xiaomeng Xu, Huy Ha, Shuran Song <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://dgdm-robot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2402.15038">Paper</a> •
<a href="https://dgdm-robot.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://paperbot.cs.columbia.edu/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/paperbot.mp4" type="video/mp4">
</video>
</a>
<a href="https://paperbot.cs.columbia.edu/" class="research-proj-title"> PaperBot: Learning to Design Real-World Tools Using Paper </a>
<p> Ruoshi Liu, Junbang Liang, Sruthi Sudhakar, Huy Ha, Cheng Chi, Shuran Song, Carl Vondrick <br>
arXiv 2024 <br>
<a href="https://paperbot.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2403.09566">Paper</a> •
<a href="https://github.com/cvlab-columbia/paperbot">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://paperbot.cs.columbia.edu/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/doughnet.webm" type="video/mp4">
</video>
</a>
<a href="https://dough-net.github.io/" class="research-proj-title"> DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects </a>
<p> Dominik Bauer, Zhenjia Xu, Shuran Song <br>
ECCV 2024 <br>
<a href="https://dough-net.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2404.12524">Paper</a> •
<a href="https://dough-net.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-gripper.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/umi_thumbnail.mp4" type="video/mp4">
</video>
</a>
<a href="https://umi-gripper.github.io/" class="research-proj-title"> Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots </a>
<p> Cheng Chi*, Zhenjia Xu*, Chuer Pan, Eric Cousineau, Ben Burchfiel, Siyuan Feng, Russ Tedrake, Shuran Song <br>
RSS 2024 <br>
<strong>Outstanding System Paper Finalist</strong> •
<a href="https://umi-gripper.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2402.10329">Paper</a> •
<a href="https://umi-gripper.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://droid-dataset.github.io/" class="research-thumb">
<img src="images/projects/Dorid.png" alt="" />
</a>
<a href="https://droid-dataset.github.io/" class="research-proj-title"> DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset </a>
<p> Alexander Khazatsky, Karl Pertsch et al <br>
RSS 2024 <br>
<a href="https://droid-dataset.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2403.12945">Paper</a> •
<a href="https://colab.research.google.com/drive/1b4PPH4XGht4Jve2xPKMCh-AXXAQziNQa?usp=sharing">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://project-roco.github.io/" class="research-thumb">
<img src="images/projects/roco.jpg" alt="" />
</a>
<a href="https://project-roco.github.io/" class="research-proj-title"> RoCo: Dialectic Multi-Robot Collaboration with Large Language Models </a>
<p> Zhao Mandi, Shreeya Jain, Shuran Song <br>
International Conference on Robotics and Automation (<b>ICRA 2024</b>)<br>
<a href="https://project-roco.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2307.04738">Paper</a> •
<a href="https://project-roco.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://robotics-transformer-x.github.io/" class="research-thumb">
<img src="images/projects/RT-x.png" alt="" />
</a>
<a href="https://robotics-transformer-x.github.io/" class="research-proj-title"> Open X-Embodiment: Robotic Learning Datasets and RT-X Models</a>
<p> Abhishek Padalkar et al <br>
International Conference on Robotics and Automation (ICRA 2024) <br>
<strong>Best Paper Award</strong> •
<a href="https://robotics-transformer-x.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2310.08864.pdf">Paper</a> •
<a href="https://robotics-transformer-x.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://datacomp.ai/" class="research-thumb">
<img src="images/projects/datacomp.png" alt="" />
</a>
<a href="https://arxiv.org/abs/2304.14108" class="research-proj-title"> DataComp: In search of the next generation of multimodal datasets </a>
<p> Samir Yitzhak Gadre*, Gabriel Ilharco*, Alex Fang* et al. <br>
NeurIPS, 2023 (oral) <br>
<a href="https://datacomp.ai/">Webpage</a> •
<a href="https://arxiv.org/abs/2304.14108">Paper</a> •
<a href="https://github.com/mlfoundations/datacomp">Code </a>
</p>
<p> <br> </p>
</div>
<div class="research-proj">
<a href="https://www.cs.columbia.edu/~huy/scalingup/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/scalingup-teaser.mp4" type="video/mp4">
</video>
</a>
<a href="https://www.cs.columbia.edu/~huy/scalingup/" class="research-proj-title"> Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition </a>
<p> Huy Ha, Pete Florence, Shuran Song <br>
Conference on Robot Learning 2023 <br>
<a href="https://www.cs.columbia.edu/~huy/scalingup/">Webpage</a> •
<a href="https://arxiv.org/abs/2307.14535">Paper</a> •
<a href="https://github.com/columbia-ai-robotics/scalingup">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://robot-reflect.github.io/" class="research-thumb">
<img src="images/projects/reflect.png" alt="" />
<a href="https://robot-reflect.github.io/" class="research-proj-title"> REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction </a>
<p>
Zeyi Liu*, Arpit Bahety*, Shuran Song
<br>
Conference on Robot Learning 2023 <br>
<a href="https://robot-reflect.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2306.15724">Paper</a> •
<a href="https://github.com/columbia-ai-robotics/reflect">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://xskillcorl.github.io/" class="research-thumb">
<img src="images/projects/Xskill.png" alt="" />
<a href="https://xskillcorl.github.io/" class="research-proj-title"> XSkill: Cross Embodiment Skill Discovery </a>
<p>
Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song
<br>
Conference on Robot Learning 2023 <br>
<a href="https://xskillcorl.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2307.09955">Paper</a> •
<a href="https://xskillcorl.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://general-part-assembly.github.io/" class="research-thumb">
<img src="images/projects/GPAT.jpeg" alt="" />
<a href="https://general-part-assembly.github.io/" class="research-proj-title"> Rearrangement Planning for General Part Assembly </a>
<p>
Yulong Li, Andy Zeng, Shuran Song
<br>
Conference on Robot Learning 2023 <br>
<strong>Oral Presentation</strong> •
<a href="https://general-part-assembly.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2307.00206.pdf">Paper</a> •
<a href="https://general-part-assembly.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://tidybot.cs.princeton.edu/" class="research-thumb"><img src="images/projects/wu2023tidybot.gif" alt="" /></a>
<a href="https://tidybot.cs.princeton.edu/" class="research-proj-title"> TidyBot: Personalized Robot Assistance with Large Language Models </a>
<p>
Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser<br>
Autonomous Robots (AuRo) - Special Issue: Large Language Models in Robotics, 2023 <br>
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 <br>
<a href="https://tidybot.cs.princeton.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2305.05658">Paper</a> •
<a href="https://github.com/jimmyyhwu/tidybot">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://sfa.cs.columbia.edu/" class="research-thumb"><img src="images/projects/sfa.png" alt="" /></a>
<a href="https://sfa.cs.columbia.edu/" class="research-proj-title"> Structure From Action: Learning Interactions for Articulated Object 3D Structure Discovery </a>
<p>
Neil Nie, Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song <br>
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 <br>
<a href="https://sfa.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2207.08997">Paper</a>
</p>
</div>
<div class="research-proj">
<a href="https://bag-all-you-need.cs.columbia.edu/" class="research-thumb"><img src="images/projects/bag.png" alt="" /></a>
<a href="https://bag-all-you-need.cs.columbia.edu/" class="research-proj-title"> Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objects </a>
<p>
Arpit Bahety*, Shreeya Jain*, Huy Ha, Nathalie Hager, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song <br>
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 <br>
<a href="https://bag-all-you-need.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2210.09997">Paper</a>
</p>
</div>
<div class="research-proj">
<a href="https://diffusion-policy.cs.columbia.edu/" class="research-thumb"><img src="images/projects/diffusion.gif" alt="" /></a>
<a href="https://diffusion-policy.cs.columbia.edu/" class="research-proj-title"> Diffusion Policy: Visuomotor Policy Learning via Action Diffusion </a>
<p>
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song<br>
Robotics: Science and Systems (RSS) 2023<br>
<a href="https://diffusion-policy.cs.columbia.edu/">Webpage</a> •
<a href="https://diffusion-policy.cs.columbia.edu/">Paper</a> •
<a href="https://github.com/columbia-ai-robotics/diffusion_policy">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://roboninja.cs.columbia.edu/" class="research-thumb"><img src="images/projects/RoboNinja_RSS.gif" alt="" /></a>
<a href="https://roboninja.cs.columbia.edu/" class="research-proj-title"> RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects </a>
<p>
Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song<br>
Robotics: Science and Systems (RSS) 2023 <br>
<a href="https://roboninja.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2302.11553">Paper</a> •