Grasping in the Wild: Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations
Shuran Song, Andy Zeng, Johnny Lee, Thomas Funkhouser
Arxiv 2019
Paper ·  Project Webpage

Category-Level Articulated Object Pose Estimation
Xiaolong Li, He Wang, Li Yi, Leonidas Guibas, A. Lynn Abbott, Shuran Song
Arxiv 2019
Paper ·  Project Webpage

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)
Paper ·  Project Webpage  ·  Code

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)
Paper ·  Project Webpage  ·  Code and Data

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)
Paper ·  Project Webpage  ·  Code

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)
Best System Paper Award  ·  Paper ·  Project Webpage  ·  Featured in New York Times

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)
Paper ·  Project Webpage

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  ·  Paper ·  Project Webpage ·  Code

Neural Illumination: Lighting Prediction for Indoor Environments
Shuran Song and Thomas Funkhouser
Proceedings of 32th IEEE Conference on Computer Vision and Pattern Recognition (CVPR2019)
Best Paper Finalist  ·  Oral Presentation ·  Paper ·  Project Webpage

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)
Paper

Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
A. Zeng, S. Song, S. Welker, J. Lee, A. Rodriguez, T. Funkhouser
Best Cognitive Robotics Paper Award Finalist  · (IROS2018)
Paper ·  Project Webpage ·  Code (Github)

Im2Pano3D: Extrapolating 360° 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 [Watch it on Youtube]  ·  Paper ·  Project Webpage

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.  ·  Paper ·  Project Webpage ·  Code (Github)

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 [Watch it on Youtube]  ·  Paper ·  Project Webpage

3DMatch: Learning the Matching of Local 3D Geometry in Range Scans
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 [Watch it on Youtube]  ·  Paper ·  Project Webpage

Matterport3D: Learning from RGB-D Data in Indoor Environments
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)
Paper ·  Project Webpage

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)
Paper ·  Project Webpage *indicates equal contribution.

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)
Paper ·  Project Webpage and Dataset ·  Source Code

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)
Spotlight Presentation ·  Paper ·  Project Webpage

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
Paper ·  ShapeNet dataset

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]  ·  Paper ·  Dataset and Project Webpage

3D ShapeNets: A Deep Representation for Volumetric Shapes
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]  ·  Paper ·  Source Code and Project Webpage ·  Princeton ModelNet Dataset

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
Paper ·  Project Webpage and Source Code

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
Paper ·  LSUN dataset

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]  ·  Paper ·  Source Code and Data and Project Webpage

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] ·  Paper ·  Source Code and Data and Project Webpage

Tracking Revisited using RGBD Camera: Unified Benchmark and Baselines
S. Song and J. Xiao
Proceedings of 14th IEEE International Conference on Computer Vision (ICCV2013)
Paper ·  Project Webpage, Data, Source Code and Evaluation Server