Assistant Professor of Electrical Engineering, by courtesy, of Computer Science at Stanford University
I lead the Robotics and Embodied AI Lab at Stanford University( REAL@Stanford ). 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 REAL website.
Email: shuran [at] stanford [dot] edu
Office: RM258, 350 Jane Stanford Way Packard Bldg Stanford, CA 94305.
Recent Talks
- Self-Adaptive Robots ( Slides ) at Workshop on Embodiment-Aware Robot Learning (EARL) @ RSS'24
- Navigating the Upward Spiral for Sensorimotor Learning ( Slides ) Keynote at A Future Roadmap for Sensorimotor Skill Learning for Robot Manipulation @ ICRA’24
- What I wish I had for Robot Learning ( Slides ) Early Career Keynote at Conference on Robot Learning
- Learning Meets Gravity: Robots that Embrace Dynamics and Pixels ( Talk ) at CMU Robotics Institute
- 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
Publications
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![](images/projects/get-zero.png)
Austin Patel and Shuran Song
arXiv 2024
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Code
![](images/projects/im2flow2act.png)
Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song
arXiv 2024
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Code
Huy Ha*, Yihuai Gao*, Zipeng Fu, Jie Tan, Shuran Song
arXiv 2024
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Code
![](images/projects/maniwav.png)
Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song
arXiv 2024
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Code
![](images/projects/EquiBot.png)
Jingyun Yang*, Zi-ang Cao*, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg
arXiv 2024
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Code
![](images/projects/dreamitate.gif)
Junbang Liang*, Ruoshi Liu*, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave, Pavel Tokmakov, Shuran Song, Carl Vondrick
arXiv 2024
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Code
![](images/projects/dgdm.jpeg)
Xiaomeng Xu, Huy Ha, Shuran Song
arXiv 2024
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Code
Ruoshi Liu, Junbang Liang, Sruthi Sudhakar, Huy Ha, Cheng Chi, Shuran Song, Carl Vondrick
arXiv 2024
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Code
![](images/projects/real2code.png)
Zhao Mandi, Yijia Weng, Dominik Bauer, Shuran Song
arXiv 2024
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Code
Dominik Bauer, Zhenjia Xu, Shuran Song
ECCV 2024
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Code
Cheng Chi*, Zhenjia Xu*, Chuer Pan, Eric Cousineau, Ben Burchfiel, Siyuan Feng, Russ Tedrake, Shuran Song
RSS 2024
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Code
![](images/projects/Dorid.png)
Alexander Khazatsky, Karl Pertsch et al
RSS 2024
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Code
![](images/projects/roco.jpg)
Zhao Mandi, Shreeya Jain, Shuran Song
International Conference on Robotics and Automation (ICRA 2023)
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Code
![](images/projects/RT-x.png)
Abhishek Padalkar et al
International Conference on Robotics and Automation (ICRA 2024)
Best Paper Award •
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Code
![](images/projects/datacomp.png)
Samir Yitzhak Gadre*, Gabriel Ilharco*, Alex Fang* et al.
NeurIPS, 2023 (oral)
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Code
Huy Ha, Pete Florence, Shuran Song
Conference on Robot Learning 2023
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Code
![](images/projects/reflect.png)
Zeyi Liu*, Arpit Bahety*, Shuran Song
Conference on Robot Learning 2023
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Code
![](images/projects/Xskill.png)
Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song
Conference on Robot Learning 2023
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Code
![](images/projects/GPAT.jpeg)
Yulong Li, Andy Zeng, Shuran Song
Conference on Robot Learning 2023
Oral Presentation •
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Code
![](images/projects/wu2023tidybot.gif)
Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser
Autonomous Robots (AuRo) - Special Issue: Large Language Models in Robotics, 2023
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
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Code •
![](images/projects/sfa.png)
Neil Nie, Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Webpage •
Paper
![](images/projects/bag.png)
Arpit Bahety*, Shreeya Jain*, Huy Ha, Nathalie Hager, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Webpage •
Paper
![](images/projects/diffusion.gif)
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song
Robotics: Science and Systems (RSS) 2023
Webpage •
Paper •
Code •
![](images/projects/RoboNinja_RSS.gif)
Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song
Robotics: Science and Systems (RSS) 2023
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Paper •
Code & Simulation •
![](images/projects/cow.png)
(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)
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Paper
![](images/projects/funnel.png)
Alper Canberk, Cheng Chi, Huy Ha, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song
International Conference on Robotics and Automation (ICRA 2023)
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Paper •
![](images/projects/touch3d.png)
Jingxi Xu*, Han Lin*, Shuran Song, Matei Ciocarlie
International Conference on Robotics and Automation (ICRA 2023)
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Paper •
![](images/projects/semabs-rect.gif)
Huy Ha, Shuran Song
Conference on Robot Learning (CoRL2022)
Webpage •
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Code •
Demo on Huggingface
![](images/projects/busybot.gif)
Zeyi Liu, Zhenjia Xu, Shuran Song
Conference on Robot Learning (CoRL2022)
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Paper •
Code
![](images/projects/aspire.png)
Mengda Xu, Manuela Veloso, Shuran Song
Conference on Neural Information Processing Systems (NeurIPS 2022)
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Code
![](images/projects/paint.jpeg)
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
![](images/projects/irp.jpeg)
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
![](images/projects/air.gif)
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
![](images/projects/air-wu.gif)
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
![](images/projects/tandem.jpeg)
Jingxi Xu, Shuran Song, Matei Ciocarlie
Robotics and Automation Letters (RA-L) 2022
Intelligent Robots and Systems (IROS) 2022
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Paper
![](images/projects/seat.jpeg)
Shubham Agrawal*, Yulong Li*, Jen-Shuo Liu, Steven K. Feiner, Shuran Song
Intelligent Robots and Systems (IROS) 2022
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Paper
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Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song, Roozbeh Mottaghi,
Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2022)
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Paper
![](images/projects/ump-net.jpeg)
Zhenjia Xu, Zhanpeng He, Shuran Song
Robotics and Automation Letters (RA-L) and ICRA 2022
Webpage •
Paper
![](images/projects/fish_sim.gif)
Wenji Liu, Kai Bai, Xuming He, Shuran Song, Changxi Zheng, and Xiaopei Liu
International Conference on Robotics and Automation (ICRA 2022)
Code •
Paper
![](images/projects/se3pose.jpeg)
Xiaolong Li, Yijia Weng, Li Yi, Leonidas Guibas, A. Lynn Abbott, Shuran Song, He Wang
NeurIPS, 2021
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Paper •
Code
![](images/projects/flingbot-crop.gif)
Huy Ha, Shuran Song
Conference on Robot Learning (CoRL2021)
Best System Paper Award •
Webpage •
Paper •
Code
![](images/projects/garmentnets.png)
Cheng Chi, Shuran Song
IEEE International Conference on Computer Vision (ICCV2021)
Webpage •
Paper •
Code
![](images/projects/atp.png)
Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song
IEEE International Conference on Computer Vision (ICCV2021)
Webpage (with online Demo!) •
Paper •
Code
![](images/projects/dynmaic-grasping.png)
Iretiayo Akinola*, Jingxi Xu*, Shuran Song, and Peter Allen
International Conference on Intelligent Robots and Systems (IROS) 2021
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Paper
![](images/projects/adagrasp2.gif)
Zhenjia Xu, Beichun Qi, Shubham Agrawal, Shuran Song
International Conference on Robotics and Automation (ICRA 2021)
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Paper •
Code
![](images/projects/sim.jpg)
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas Funkhouser
International Conference on Robotics and Automation (ICRA 2021)
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Paper •
Code
![](images/projects/VPT.jpg)
Boyuan Chen, Yuhang Hu, Robert Kwiatkowski, Shuran Song, Hod Lipson
International Conference on Robotics and Automation (ICRA 2021)
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Code
![](images/projects/SSCNav.gif)
Yiqing Liang, Boyuan Chen, Shuran Song
International Conference on Robotics and Automation (ICRA 2021)
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Code
![](images/projects/spotlight_dsrnet.jpg)
Zhenjia Xu*, Zhanpeng He*, Jiajun Wu, Shuran Song
Conference on Robot Learning (CoRL) 2020
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Code
![](images/projects/fit2form.gif)
Huy Ha*, Shubham Agrawal*, Shuran Song
Conference on Robot Learning (CoRL) 2020
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Paper
Code
![](images/projects/multiarm.gif)
Huy Ha, Jingxi Xu, Shuran Song
Conference on Robot Learning (CoRL) 2020
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Paper •
Code
![](images/projects/graspinwild.jpg)
Shuran Song, Andy Zeng, Johnny Lee, Thomas Funkhouser
Intelligent Robots and Systems (IROS) 2020
Robotics and Automation Letters (RA-L) 2020
Webpage •
PDF
![](images/projects/ads-eccv2020.jpg)
Chengzhi Mao, Amogh Gupta, Vikram Nitin, Baishakhi Ray, Shuran Song, Junfeng Yang, Carl Vondrick
European Conference on Computer Vision (ECCV) 2020
Oral Presentation •
PDF
![](images/projects/rss20.png)
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz, Thomas Funkhouser
Robotics: Science and Systems (RSS) 2020
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PDF
![](images/projects/artpose.jpg)
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
![](images/projects/form2fit.png)
Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song
International Conference on Robotics and Automation (ICRA 2020)
Best Paper Award in Automation Finalist •
Webpage •
PDF
![](images/projects/cleargrasp.gif)
Shreeyak S. Sajjan, Matthew Moore, Mike Pan, Ganesh Nagaraja, Johnny Lee, Andy Zeng, Shuran Song
International Conference on Robotics and Automation (ICRA 2020)
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PDF
![](images/projects/vision2action.png)
Lin Yen-Chen, Andy Zeng, Shuran Song, Phillip Isola, Tsung-Yi Lin
International Conference on Robotics and Automation (ICRA 2020)
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PDF
![](images/projects/tossing.jpg)
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 •
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PDF
![](images/projects/densephysnet-crop.gif)
Zhenjia Xu, Jiajun Wu, Andy Zeng, Joshua Tenenbaum, Shuran Song
Robotics: Science and Systems 2019 (RSS 2019)
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PDF
![](images/projects/PoseRCNN2019.jpg)
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 •
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PDF
![](images/projects/illumination.png)
Shuran Song and Thomas Funkhouser
Proceedings of 32th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2019)
Oral Presentation •
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PDF
![](images/projects/graph_learning.jpg)
Michelle Guo, Edward Chou, Shuran Song, De-An Huang, Serena Yeung, Li Fei-Fei
European Conference on Computer Vision (ECCV2018)
PDF
![](images/projects/vpg.jpg)
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
![](images/projects/im2pano3d.jpg)
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 •
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PDF
![](images/projects/arc.jpg)
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
![](images/projects/ssc.jpg)
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 •
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PDF
![](images/projects/3dmatch.jpg)
A. Zeng, S. Song, M. Nießner, M. Fisher, J. Xiao and T. Funkhouser.
Proceedings of 30th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2017)
Oral Presentation •
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PDF
![](images/projects/pbr.jpg)
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 •
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PDF
![](images/projects/matterport.jpg)
A. X. Chang, A. Dai, T. Funkhouser, M. Halber, M. Nießner, M. Savva, S. Song , A. Zeng, Y. Zhang
IEEE International Conference on 3D Vision (3DV 2017)
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PDF
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A. Zeng, K.T. Yu, S. Song, D. Suo, E. Walker Jr., A. Rodriguez, and J. Xiao
International Conference on Robotics and Automation (ICRA2017)
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PDF
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S. Song, and J. Xiao.
Proceedings of 29th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2016)
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PDF
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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
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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] •
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PDF
![](images/projects/3dshapenet.jpg)
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] •
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PDF
![](images/projects/thumbnail(8).jpg)
S. Song, L. Zhang, and J. Xiao.
arXiv:1507.02703 [cs.CV] 9 Jul 2015
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F. Yu, A. Seff, Y. Zhang, S. Song and J. Xiao.
arXiv:1506.03365 [cs.CV] 10 Jun 2015
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![](images/projects/thumbnail(10).jpg)
S. Song and J. Xiao
Proceedings of the 13th European Conference on Computer Vision (ECCV2014)
Oral Presentation [Watch it on Videolectures] •
Webpage •
PDF
![](images/projects/thumbnail(11).jpg)
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
![](images/projects/tracking.jpg)
S. Song and J. Xiao
Proceedings of 14th IEEE International Conference on Computer Vision (ICCV2013)
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