Song, Shuran

56 publications

NeurIPS 2025 A Practical Guide for Incorporating Symmetry in Diffusion Policy Dian Wang, Boce Hu, Shuran Song, Robin Walters, Robert Platt

CoRL 2025 BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, Li Fei-Fei

NeurIPS 2025 Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections Xiaomeng Xu, Yifan Hou, Zeyi Liu, Shuran Song

CoRL 2025 DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation Mengda Xu, Han Zhang, Yifan Hou, Zhenjia Xu, Linxi Fan, Manuela Veloso, Shuran Song

NeurIPS 2025 DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance Max Du, Shuran Song

NeurIPS 2025 Efficient Part-Level 3D Object Generation via Dual Volume Packing Jiaxiang Tang, Ruijie Lu, Max Li, Zekun Hao, Xuan Li, Fangyin Wei, Shuran Song, Gang Zeng, Ming-Yu Liu, Tsung-Yi Lin

ICLR 2025 Language Models Scale Reliably with Over-Training and on Downstream Tasks Samir Yitzhak Gadre, Georgios Smyrnis, Vaishaal Shankar, Suchin Gururangan, Mitchell Wortsman, Rulin Shao, Jean Mercat, Alex Fang, Jeffrey Li, Sedrick Keh, Rui Xin, Marianna Nezhurina, Igor Vasiljevic, Luca Soldaini, Jenia Jitsev, Alex Dimakis, Gabriel Ilharco, Pang Wei Koh, Shuran Song, Thomas Kollar, Yair Carmon, Achal Dave, Reinhard Heckel, Niklas Muennighoff, Ludwig Schmidt

NeurIPS 2025 Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution Zhanyi Sun, Shuran Song

CoRL 2025 One Demo Is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies Chuer Pan, Litian Liang, Dominik Bauer, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Shuran Song

ICLR 2025 Real2Code: Reconstruct Articulated Objects via Code Generation Zhao Mandi, Yijia Weng, Dominik Bauer, Shuran Song

NeurIPS 2025 Rectified Point Flow: Generic Point Cloud Pose Estimation Tao Sun, Liyuan Zhu, Shengyu Huang, Shuran Song, Iro Armeni

CoRL 2025 Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids Kaizhe Hu, Haochen Shi, Yao He, Weizhuo Wang, Karen Liu, Shuran Song

ICLR 2025 Should VLMs Be Pre-Trained with Image Data? Sedrick Keh, Jean Mercat, Samir Yitzhak Gadre, Kushal Arora, Igor Vasiljevic, Benjamin Burchfiel, Shuran Song, Russ Tedrake, Thomas Kollar, Ludwig Schmidt, Achal Dave

CoRL 2025 ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation Haochen Shi, Weizhuo Wang, Shuran Song, Karen Liu

CoRL 2025 Vision in Action: Learning Active Perception from Human Demonstrations Haoyu Xiong, Xiaomeng Xu, Jimmy Wu, Yifan Hou, Jeannette Bohg, Shuran Song

NeurIPS 2024 DataComp-LM: In Search of the Next Generation of Training Sets for Language Models Jeffrey Li, Alex Fang, Georgios Smyrnis, Maor Ivgi, Matt Jordan, Samir Gadre, Hritik Bansal, Etash Guha, Sedrick Keh, Kushal Arora, Saurabh Garg, Rui Xin, Niklas Muennighoff, Reinhard Heckel, Jean Mercat, Mayee Chen, Suchin Gururangan, Mitchell Wortsman, Alon Albalak, Yonatan Bitton, Marianna Nezhurina, Amro Abbas, Cheng-Yu Hsieh, Dhruba Ghosh, Josh Gardner, Maciej Kilian, Hanlin Zhang, Rulin Shao, Sarah Pratt, Sunny Sanyal, Gabriel Ilharco, Giannis Daras, Kalyani Marathe, Aaron Gokaslan, Jieyu Zhang, Khyathi Chandu, Thao Nguyen, Igor Vasiljevic, Sham Kakade, Shuran Song, Sujay Sanghavi, Fartash Faghri, Sewoong Oh, Luke Zettlemoyer, Kyle Lo, Alaaeldin El-Nouby, Hadi Pouransari, Alexander Toshev, Stephanie Wang, Dirk Groeneveld, Luca Soldaini, Pang Wei Koh, Jenia Jitsev, Thomas Kollar, Alexandros G. Dimakis, Yair Carmon, Achal Dave, Ludwig Schmidt, Vaishaal Shankar

CoRL 2024 Differentiable Robot Rendering Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick

ECCV 2024 DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects Dominik Bauer, Zhenjia Xu, Shuran Song

CoRL 2024 Dreamitate: Real-World Visuomotor Policy Learning via Video Generation Junbang Liang, Ruoshi Liu, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave, Pavel Tokmakov, Shuran Song, Carl Vondrick

CoRL 2024 Dynamics-Guided Diffusion Model for Sensor-Less Robot Manipulator Design Xiaomeng Xu, Huy Ha, Shuran Song

CoRL 2024 EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning Jingyun Yang, Ziang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg

CoRL 2024 Flow as the Cross-Domain Manipulation Interface Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song

CoRL 2024 ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song

CoRL 2024 TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg

CoRL 2024 UMI-on-Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-Body Controllers Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, Shuran Song

CVPR 2023 CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, Shuran Song

NeurIPS 2023 DataComp: In Search of the Next Generation of Multimodal Datasets Samir Yitzhak Gadre, Gabriel Ilharco, Alex Fang, Jonathan Hayase, Georgios Smyrnis, Thao Nguyen, Ryan Marten, Mitchell Wortsman, Dhruba Ghosh, Jieyu Zhang, Eyal Orgad, Rahim Entezari, Giannis Daras, Sarah Pratt, Vivek Ramanujan, Yonatan Bitton, Kalyani Marathe, Stephen Mussmann, Richard Vencu, Mehdi Cherti, Ranjay Krishna, Pang Wei W Koh, Olga Saukh, Alexander J Ratner, Shuran Song, Hannaneh Hajishirzi, Ali Farhadi, Romain Beaumont, Sewoong Oh, Alex Dimakis, Jenia Jitsev, Yair Carmon, Vaishaal Shankar, Ludwig Schmidt

ICMLW 2023 Koopman Constrained Policy Optimization: A Koopman Operator Theoretic Method for Differentiable Optimal Control in Robotics Matthew Retchin, Brandon Amos, Steven Brunton, Shuran Song

CoRL 2023 REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction Zeyi Liu, Arpit Bahety, Shuran Song

CoRL 2023 Rearrangement Planning for General Part Assembly Yulong Li, Andy Zeng, Shuran Song

CoRL 2023 Scaling up and Distilling Down: Language-Guided Robot Skill Acquisition Huy Ha, Pete Florence, Shuran Song

AAAI 2023 Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild Jiayi Chen, Mi Yan, Jiazhao Zhang, Yinzhen Xu, Xiaolong Li, Yijia Weng, Li Yi, Shuran Song, He Wang

CoRL 2023 XSkill: Cross Embodiment Skill Discovery Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song

NeurIPS 2022 ASPiRe: Adaptive Skill Priors for Reinforcement Learning Mengda Xu, Manuela M. Veloso, Shuran Song

CoRL 2022 BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment Zeyi Liu, Zhenjia Xu, Shuran Song

CVPR 2022 Continuous Scene Representations for Embodied AI Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song, Roozbeh Mottaghi

NeurIPS 2022 Patching Open-Vocabulary Models by Interpolating Weights Gabriel Ilharco, Mitchell Wortsman, Samir Yitzhak Gadre, Shuran Song, Hannaneh Hajishirzi, Simon Kornblith, Ali Farhadi, Ludwig Schmidt

CoRL 2022 Semantic Abstraction: Open-World 3D Scene Understanding from 2D Vision-Language Models Huy Ha, Shuran Song

ICCV 2021 Act the Part: Learning Interaction Strategies for Articulated Object Part Discovery Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song

CoRL 2021 FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding Huy Ha, Shuran Song

ICCV 2021 GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion Cheng Chi, Shuran Song

NeurIPS 2021 Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimation from Point Clouds Xiaolong Li, Yijia Weng, Li Yi, Leonidas Guibas, A. Abbott, Shuran Song, He Wang

CoRL 2020 Fit2Form: 3D Generative Model for Robot Gripper Form Design Huy Ha, Shubham Agrawal, Shuran Song

CoRL 2020 Learning 3D Dynamic Scene Representations for Robot Manipulation Zhenjia Xu, Zhanpeng He, Jiajun Wu, Shuran Song

CoRL 2020 Learning a Decentralized Multi-Arm Motion Planner Huy Ha, Jingxi Xu, Shuran Song

ECCV 2020 Multitask Learning Strengthens Adversarial Robustness Chengzhi Mao, Amogh Gupta, Vikram Nitin, Baishakhi Ray, Shuran Song, Junfeng Yang, Carl Vondrick

ECCV 2018 Neural Graph Matching Networks for Fewshot 3D Action Recognition Michelle Guo, Edward Chou, De-An Huang, Shuran Song, Serena Yeung, Li Fei-Fei

CVPR 2017 3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions Andy Zeng, Shuran Song, Matthias Niessner, Matthew Fisher, Jianxiong Xiao, Thomas Funkhouser

CVPR 2017 Physically-Based Rendering for Indoor Scene Understanding Using Convolutional Neural Networks Yinda Zhang, Shuran Song, Ersin Yumer, Manolis Savva, Joon-Young Lee, Hailin Jin, Thomas Funkhouser

CVPR 2017 Semantic Scene Completion from a Single Depth Image Shuran Song, Fisher Yu, Andy Zeng, Angel X. Chang, Manolis Savva, Thomas Funkhouser

CVPR 2016 Deep Sliding Shapes for Amodal 3D Object Detection in RGB-D Images Shuran Song, Jianxiong Xiao

CVPR 2015 3D ShapeNets: A Deep Representation for Volumetric Shapes Zhirong Wu, Shuran Song, Aditya Khosla, Fisher Yu, Linguang Zhang, Xiaoou Tang, Jianxiong Xiao

CVPR 2015 SUN RGB-D: A RGB-D Scene Understanding Benchmark Suite Shuran Song, Samuel P. Lichtenberg, Jianxiong Xiao

ECCV 2014 PanoContext: A Whole-Room 3D Context Model for Panoramic Scene Understanding Yinda Zhang, Shuran Song, Ping Tan, Jianxiong Xiao

ECCV 2014 Sliding Shapes for 3D Object Detection in Depth Images Shuran Song, Jianxiong Xiao

ICCV 2013 Tracking Revisited Using RGBD Camera: Unified Benchmark and Baselines Shuran Song, Jianxiong Xiao