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Shuran Song

  1. Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
    2023/03/07 by Cheng Chi, Zhenjia Xu, Chi, Cheng +12 · 640 citations
    Computer Science · Physics and Astronomy · #Domain Adaptation and Few-Shot Learning #FOS: Computer and information sciences #Model Reduction and Neural Networks #Reinforcement Learning in Robotics #Robotics (cs.RO)
  2. ShapeNet: An Information-Rich 3D Model Repository
    2015/12/09 by Thomas Funkhouser, Chang, Angel X., Funkhouser, Thomas +22 · 210 citations
    Computer Science · Engineering · #3D Shape Modeling and Analysis #Artificial Intelligence (cs.AI) #Computational Geometry (cs.CG) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Graphics (cs.GR) #Image Processing and 3D Reconstruction #Image Retrieval and Classification Techniques #Robotics (cs.RO)
  3. Diffusion policy: Visuomotor policy learning via action diffusion
    2024/10/11 by Cheng Chi, Zhenjia Xu, Siyuan Feng +5 · 641 citations
    Computer Science · #Reinforcement Learning in Robotics
  4. Matterport3D: Learning from RGB-D Data in Indoor Environments
    2017/09/18 by Chang, Angel, Angela Dai, Thomas Funkhouser +14 · 208 citations
    Computer Science · Environmental Science · #Advanced Vision and Imaging #Remote Sensing and LiDAR Applications #Video Surveillance and Tracking Methods
  5. LSUN: Construction of a Large-scale Image Dataset using Deep Learning with Humans in the Loop
    2015/06/10 by Fisher Yu, Yu, Fisher, Ari Seff +8 · 126 citations
    Computer Science · #Advanced Image and Video Retrieval Techniques #Computer Vision and Pattern Recognition (cs.CV) #Domain Adaptation and Few-Shot Learning #FOS: Computer and information sciences #Multimodal Machine Learning Applications
  6. DataComp-LM: In search of the next generation of training sets for language models
    2024/06/17 by Jeffrey Li, Alex Chengyu Fang, Li, Jeffrey +121 · 2 voices · 80 citations
    Computer Science · #Natural Language Processing Techniques #Topic Modeling #cs.CL #cs.LG
  7. DataComp: In search of the next generation of multimodal datasets
    2023/04/27 by Samir Yitzhak Gadre, Gabriel Ilharco, Gadre, Samir Yitzhak +65 · 79 citations
    Computer Science · #Computation and Language (cs.CL) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Generative Adversarial Networks and Image Synthesis #Machine Learning (cs.LG) #Machine Learning in Healthcare #Topic Modeling
  8. 3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions
    2016/03/27 by Andy Zeng, Zeng, Andy, Shuran Song +9 · 43 citations
    Engineering · Earth and Planetary Sciences · #Robotics and Sensor-Based Localization #3D Surveying and Cultural Heritage #3D Shape Modeling and Analysis
  9. Semantic Scene Completion from a Single Depth Image
    2016/11/28 by Shuran Song, Fisher Yu, Song, Shuran +8 · 31 citations
    Computer Science · Engineering · #3D Shape Modeling and Analysis #Advanced Vision and Imaging #Computer Graphics and Visualization Techniques #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences
  10. CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation
    2022/03/20 by Samir Yitzhak Gadre, Mitchell Wortsman, Gadre, Samir Yitzhak +7 · 46 citations
    Computer Science · #Domain Adaptation and Few-Shot Learning #Multimodal Machine Learning Applications #Advanced Neural Network Applications
  11. Foundation Models in Robotics: Applications, Challenges, and the Future
    2023/12/13 by Roya Firoozi, Johnathan Tucker, Firoozi, Roya +27 · 55 citations
    Computer Science · #Advanced Neural Network Applications #Explainable Artificial Intelligence (XAI) #FOS: Computer and information sciences #Robotics (cs.RO) #Topic Modeling
  12. Category-Level Articulated Object Pose Estimation
    2019/12/26 by Xiaolong Li, He Wang, Li, Xiaolong +9 · 22 citations
    Computer Science · Engineering · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Pose and Action Recognition #Robot Manipulation and Learning #Robotics (cs.RO) #Robotics and Sensor-Based Localization
  13. REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction
    2023/06/27 by Zeyi Liu, Liu, Zeyi, Arpit Bahety +3 · 34 citations
    Computer Science · Biochemistry, Genetics and Molecular Biology · #Topic Modeling #Natural Language Processing Techniques #Biomedical Text Mining and Ontologies
  14. Flow as the Cross-Domain Manipulation Interface
    2024/07/21 by Mengda Xu, Xu, Mengda, Zhenjia Xu +11 · 37 citations
    Computer Science · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Reinforcement Learning in Robotics #Robotics (cs.RO)
  15. Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition
    2023/07/26 by Huy Thuc Ha, Ha, Huy, Pete Florence +3 · 24 citations
    Engineering · Computer Science · #Robot Manipulation and Learning #Multimodal Machine Learning Applications #Topic Modeling
  16. TossingBot: Learning to Throw Arbitrary Objects with Residual Physics
    2019/03/27 by Andy Zeng, Shuran Song, Zeng, Andy +7 · 12 citations
    Engineering · Neuroscience · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Machine Learning (stat.ML) #Motor Control and Adaptation #Muscle activation and electromyography studies #Robot Manipulation and Learning #Robotics (cs.RO)
  17. Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations
    2019/12/09 by Shuran Song, Andy Zeng, Song, Shuran +5 · 13 citations
    Engineering · Computer Science · Neuroscience · #Robot Manipulation and Learning #Reinforcement Learning in Robotics #Motor Control and Adaptation
  18. Patching open-vocabulary models by interpolating weights
    2022/08/10 by Gabriel Ilharco, Ilharco, Gabriel, Mitchell Wortsman +13 · 16 citations
    Computer Science · Medicine · #Multimodal Machine Learning Applications #Domain Adaptation and Few-Shot Learning #COVID-19 diagnosis using AI
  19. DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions
    2019/06/10 by Zhenjia Xu, Jiajun Wu, Xu, Zhenjia +7 · 13 citations
    Engineering · Computer Science · #Robot Manipulation and Learning #Human Pose and Action Recognition #Advanced Neural Network Applications
  20. UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
    2024/07/14 by Huy Thuc Ha, Ha, Huy, Yihuai Gao +7 · 25 citations
    Computer Science · #Innovative Human-Technology Interaction #Interactive and Immersive Displays
  21. EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
    2024/07/01 by Jingyun Yang, Ziang Cao, Yang, Jingyun +9 · 22 citations
    Computer Science · Engineering · #Domain Adaptation and Few-Shot Learning #FOS: Computer and information sciences #Machine Learning (cs.LG) #Nuclear reactor physics and engineering #Robotics (cs.RO) #Speech Recognition and Synthesis
  22. SSCNav: Confidence-Aware Semantic Scene Completion for Visual Semantic Navigation
    2020/12/08 by Yiqing Liang, Liang, Yiqing, Boyuan Chen +3 · 10 citations
    Computer Science · #Advanced Image and Video Retrieval Techniques #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Pose and Action Recognition #Multimodal Machine Learning Applications #Robotics (cs.RO)
  23. CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning
    2022/12/12 by Zhao Mandi, Homanga Bharadhwaj, Mandi, Zhao +9 · 12 citations
    Computer Science · #Multimodal Machine Learning Applications #Domain Adaptation and Few-Shot Learning #Reinforcement Learning in Robotics
  24. Real2Code: Reconstruct Articulated Objects via Code Generation
    2024/06/12 by Zhao Mandi, Mandi, Zhao, Yijia Weng +5 · 18 citations
    Computer Science · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Handwritten Text Recognition Techniques #Image Processing and 3D Reconstruction #Machine Learning (cs.LG) #Natural Language Processing Techniques
  25. Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objects
    2022/03/01 by Cheng Chi, Chi, Cheng, Benjamin Burchfiel +7 · 9 citations
    Computer Science · Engineering · #FOS: Computer and information sciences #Human Pose and Action Recognition #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Robotics (cs.RO)
  26. Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge
    2016/09/29 by Andy Zeng, Zeng, Andy, Kuan‐Ting Yu +11 · 5 citations
    Computer Science · Engineering · #Advanced Neural Network Applications #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robot Manipulation and Learning #Robotics (cs.RO) #Robotics and Sensor-Based Localization
  27. Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control
    2024/10/12 by YiFan Hou, Zeyi Liu, Hou, Yifan +13 · 16 citations
    Engineering · #Advanced Control Systems Optimization #FOS: Computer and information sciences #Robotics (cs.RO)
  28. Language models scale reliably with over-training and on downstream tasks
    2024/03/13 by Samir Yitzhak Gadre, Georgios Smyrnis, Gadre, Samir Yitzhak +45 · 12 citations
    Computer Science · #Computation and Language (cs.CL) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Natural Language Processing Techniques #Topic Modeling
  29. DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation
    2023/11/30 by Bardienus P. Duisterhof, Zhao Mandi, Duisterhof, Bardienus P. +15 · 10 citations
    Computer Science · Engineering · #3D Shape Modeling and Analysis #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Pose and Action Recognition #Robotics (cs.RO)
  30. Structure from Action: Learning Interactions for Articulated Object 3D Structure Discovery
    2022/07/19 by Neil Nie, Nie, Neil, Samir Yitzhak Gadre +5 · 7 citations
    Computer Science · Engineering · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Motion and Animation #Human Pose and Action Recognition #Robot Manipulation and Learning
  31. Semantic Abstraction: Open-World 3D Scene Understanding from 2D Vision-Language Models
    2022/07/23 by Huy Thuc Ha, Ha, Huy, Shuran Song +1 · 6 citations
    Computer Science · #Advanced Image and Video Retrieval Techniques #Computer Vision and Pattern Recognition (cs.CV) #Domain Adaptation and Few-Shot Learning #FOS: Computer and information sciences #I.2.10 #Multimodal Machine Learning Applications #Robotics (cs.RO)
  32. Learning to See before Learning to Act: Visual Pre-training for Manipulation
    2021/07/01 by Yen-Chen Lin, Yen-Chen, Lin, Andy Zeng +7 · 5 citations
    Computer Science · Engineering · #Computer Vision and Pattern Recognition (cs.CV) #Domain Adaptation and Few-Shot Learning #FOS: Computer and information sciences #Image Processing Techniques and Applications #Robot Manipulation and Learning #Robotics (cs.RO)
  33. Act the Part: Learning Interaction Strategies for Articulated Object Part Discovery
    2021/05/03 by Samir Yitzhak Gadre, Gadre, Samir Yitzhak, Kiana Ehsani +3 · 5 citations
    Computer Science · Engineering · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Pose and Action Recognition #Multimodal Machine Learning Applications #Robot Manipulation and Learning
  34. Fit2Form: 3D Generative Model for Robot Gripper Form Design
    2020/11/12 by Huy Ha, Shubham Agrawal, Ha, Huy +3 · 4 citations
    Engineering · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #I.2.10 #I.2.9 #Machine Learning (cs.LG) #Manufacturing Process and Optimization #Robot Manipulation and Learning #Robotic Mechanisms and Dynamics #Robotics (cs.RO)
  35. Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimation
    2021/10/30 by Xiaolong Li, Li, Xiaolong, Yijia Weng +11 · 4 citations
    Engineering · Computer Science · #3D Shape Modeling and Analysis #Robot Manipulation and Learning #Human Pose and Action Recognition
  36. TANDEM3D: Active Tactile Exploration for 3D Object Recognition
    2022/09/19 by Jingxi Xu, Xu, Jingxi, Han Lin +5 · 4 citations
    Engineering · Neuroscience · #Advanced Sensor and Energy Harvesting Materials #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #EEG and Brain-Computer Interfaces #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO) #Tactile and Sensory Interactions
  37. 3D ShapeNets: A Deep Representation for Volumetric Shapes
    2014/06/22 by Zhirong Wu, Shuran Song, Wu, Zhirong +11 · 4 citations
    Computer Science · Earth and Planetary Sciences · Engineering · #3D Shape Modeling and Analysis #3D Surveying and Cultural Heritage #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences
  38. Differentiable Robot Rendering
    2024/10/17 by Ruoshi Liu, Liu, Ruoshi, Alper Canberk +5 · 6 citations
    Engineering · Computer Science · #3D Shape Modeling and Analysis #Computer Graphics and Visualization Techniques #Manufacturing Process and Optimization
  39. Efficient Part-level 3D Object Generation via Dual Volume Packing
    2025/06/11 by Jiaxiang Tang, Tang, Jiaxiang, Ruijie Lu +15 · 11 citations
    Computer Science · Engineering · #3D Shape Modeling and Analysis #Computer Graphics and Visualization Techniques #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Generative Adversarial Networks and Image Synthesis
  40. GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion
    2021/04/12 by Cheng Chi, Chi, Cheng, Shuran Song +1 · 2 citations
    Computer Science · Engineering · #3D Shape Modeling and Analysis #Advanced Vision and Imaging #Computer Graphics and Visualization Techniques #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #I.2.10 #I.2.9 #Machine Learning (cs.LG) #Robotics (cs.RO)
  41. TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
    2024/12/11 by Jimmy Wu, Woo Suk Chong, Wu, Jimmy +15 · 5 citations
    Computer Science · Engineering · #Robotic Path Planning Algorithms #Robotics and Automated Systems #Control and Dynamics of Mobile Robots
  42. Vision in Action: Learning Active Perception from Human Demonstrations
    2025/06/18 by Haoyu Xiong, Xiaomeng Xu, Xiong, Haoyu +8 · 10 citations
    Computer Science · #Data Visualization and Analytics #FOS: Computer and information sciences #Robotics (cs.RO)
  43. Rearrangement Planning for General Part Assembly
    2023/07/01 by Yulong Li, Andy Zeng, Li, Yulong +3 · 1 voice · 2 citations
    Computer Science · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Robotics (cs.RO) #cs.AI #cs.RO
  44. DextAIRity: Deformable Manipulation Can be a Breeze
    2022/03/02 by Zhenjia Xu, Cheng Chi, Xu, Zhenjia +9 · 2 citations
    Neuroscience · Engineering · #Tactile and Sensory Interactions #Robot Manipulation and Learning #Adhesion, Friction, and Surface Interactions
  45. Tactile-based Object Retrieval From Granular Media
    2024/02/07 by Jingxi Xu, Yinsen Jia, Xu, Jingxi +13 · 3 citations
    Computer Science · Earth and Planetary Sciences · Neuroscience · #3D Surveying and Cultural Heritage #Advanced Image and Video Retrieval Techniques #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO) #Tactile and Sensory Interactions
  46. Geometry-aware 4D Video Generation for Robot Manipulation
    2025/07/01 by Zeyi Liu, Liu, Zeyi, Shuang Li +9 · 8 citations
    Computer Science · Engineering · #Advanced Vision and Imaging #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Pose and Action Recognition #Machine Learning (cs.LG) #Robot Manipulation and Learning #Robotics (cs.RO)
  47. Physically-Based Rendering for Indoor Scene Understanding Using Convolutional Neural Networks
    2016/12/22 by Yinda Zhang, Zhang, Yinda, Shuran Song +11 · 2 citations
    Engineering · Computer Science · #Robotics and Sensor-Based Localization #Advanced Vision and Imaging #Advanced Neural Network Applications
  48. World Simulation with Video Foundation Models for Physical AI
    2025/10/28 by Nvidia Nvidia, NVIDIA, Arslan Ali +170 · 14 citations
    Computer Science · #Multimodal Machine Learning Applications #Generative Adversarial Networks and Image Synthesis #Reinforcement Learning in Robotics
  49. DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects
    2024/04/18 by Dominik Bauer, Bauer, Dominik, Zhenjia Xu +3 · 2 citations
    Computer Science · Earth and Planetary Sciences · Engineering · #3D Surveying and Cultural Heritage #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Image Processing and 3D Reconstruction #Machine Learning (cs.LG) #Manufacturing Process and Optimization #Robotics (cs.RO)
  50. Self-Improving Autonomous Underwater Manipulation
    2024/10/24 by Ruoshi Liu, Ho Kyung Ha, Liu, Ruoshi +7 · 3 citations
    Engineering · #Underwater Vehicles and Communication Systems
  51. PaperBot: Learning to Design Real-World Tools Using Paper
    2024/03/14 by Ruoshi Liu, Liu, Ruoshi, Junbang Liang +11 · 2 citations
    Computer Science · Psychology · #Educational Games and Gamification #FOS: Computer and information sciences #Open Education and E-Learning #Robotics (cs.RO) #Teaching and Learning Programming
  52. DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance
    2025/06/16 by Mingliang Du, Shuran Song, Du, Maximilian +1 · 4 citations
    Engineering · Computer Science · #Dynamics and Control of Mechanical Systems #Control and Dynamics of Mobile Robots #Robotic Path Planning Algorithms
  53. Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild
    2022/09/24 by Jiayi Chen, Chen, Jiayi, Mi Yan +15 · 1 citation
    Computer Science · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Hand Gesture Recognition Systems #Human Pose and Action Recognition #Virtual Reality Applications and Impacts
  54. Pick2Place: Task-aware 6DoF Grasp Estimation via Object-Centric Perspective Affordance
    2023/04/08 by Zhanpeng He, He, Zhanpeng, Nikhil Chavan-Dafle +7 · 1 citation
    Engineering · Computer Science · #Robot Manipulation and Learning #Multimodal Machine Learning Applications #Human Pose and Action Recognition
  55. ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
    2025/02/02 by Haochen Shi, Weizhuo Wang, Shi, Haochen +5 · 3 citations
    Engineering · Computer Science · Psychology · #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Social Robot Interaction and HRI
  56. A Practical Guide for Incorporating Symmetry in Diffusion Policy
    2025/05/19 by Dian Wang, Wang, Dian, Boce Hu +7 · 1 citation
    Computer Science · #Domain Adaptation and Few-Shot Learning #Reinforcement Learning in Robotics #Generative Adversarial Networks and Image Synthesis
  57. ShapeNet: An Information-Rich 3D Model Repository
    2023/11/09 by Angel X. Chang, Thomas Funkhouser, Leonidas Guibas +10 · 1 citation
    Engineering · Computer Science · #3D Shape Modeling and Analysis #Image Processing and 3D Reconstruction #Manufacturing Process and Optimization
  58. RoboPanoptes: The All-seeing Robot with Whole-body Dexterity
    2025/01/09 by Xiaomeng Xu, Xu, Xiaomeng, Dominik Bauer +3 · 1 citation
    Engineering · Neuroscience · Physics and Astronomy · #FOS: Computer and information sciences #Micro and Nano Robotics #Modular Robots and Swarm Intelligence #Neuroscience and Neural Engineering #Robotics (cs.RO)
  59. Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design
    2026/07/28 by Huy Ha, C. Karen Liu, Shuran Song
    #cs.RO
  60. ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation
    2026/07/21 by Joshua Citron, Renee Zbizika, Zeyi Liu +1
    #cs.RO #cs.AI
  61. Handroid: Bridging Dexterous Hand and Humanoid
    2026/07/17 by Ruogu Li, Chenyang Ma, Sikai Li +6
    #cs.RO