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Google Scholar / Twitter Shuran SongI am an assistant professor in computer science department at Columbia University, where I direct the Columbia Artificial Intelligence and Robotics (CAIR) Lab . My research focuses on computer vision and robotics. I鈥檓 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. Prospective Students & Post-docs: Prospective post-docs, please email me your CV directly. Current students at Columbia, please fill out this form. PhD applicants, please apply directly to the PhD program and mention my name in your application. Email: shurans at cs.columbia.edu Office: 624 CEPSR, 530 West 120th St, New York, NY 10027 
News
IRP won Best Paper Award at RSS 2022! DextAIRity get selected as Best System Paper Finalist at RSS 2022! Received a NSF CAREER award Honored to be a 2022 Sloan Research Fellow FlingBot won Best System Paper Award at CoRL 2021! Honored to be a 2021 Microsoft Research Faculty Fellow TossingBot won 2020 IEEE Transactions on Robotics Best Paper Award! Form2Fit got ICRA'20 Best Paper in Automation Award Finalist Nerual Illumination got CVPR'19 Best Paper Award Finalist JP Morgan Faculty Research Award 2021 TRI Young Faculty Award 2021 Amazon Research Award 2020 TossingBot got RSS'19 Best Systems Paper Award and featured on the front page of The New York Times Business Learning Synergies between Pushing and Grasping got IROS Best Cognitive Robotics Paper Award Finalist Amazon Robotics Best Systems Paper Award 1st place winners of the stow task at the worldwide Amazon Picking Challenge with MIT Show more... Show less... Recent Talks 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 Show more... Show less... Publications Representative • See All Publications 
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song arXiv preprint Webpage • Paper • 
RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects
Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song arXiv preprint Webpage • Paper • 
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
CLIP on Wheels: Open-Vocabulary Models are (Almost) Zero-Shot Object Navigators
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, Shuran Song Arxiv Preprint Webpage • Paper • Code Coming Soon
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 
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 
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 
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 
Fit2Form: 3D Generative Model for Robot Gripper Form Design
Huy Ha*, Shubham Agrawal*, 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
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 
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掳 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. Nie脽ner, 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. Nie脽ner, 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 .jpg)
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 Webpage • PDF 
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 .jpg)
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 Webpage • PDF 
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 Webpage • PDF .jpg)
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 .jpg)
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) Webpage • PDF Show more... Show less... TeachingCOMS 4733 Computational Aspects of Robotics,2022 COMS 6998 Topics in Robot Learning, 2021 COMS 4733 Computational Aspects of Robotics, 2020 COMS 6998 Topics in Robot Learning Teaching Assistant: Princeton COS126 General Computer Science, 2015 Teaching Assistant: HKUST ELEC1100 Introduction to Electro-Robot Design , 2011,2012 Teaching Assistant: HKUST ELEC1200A System View of Communications: from Signals to Packets, 2011 |
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