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<!DOCTYPE HTML>
<html>
<head>
<title>Shuran Song</title>
<meta charset="utf-8" />
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<div id="main">
<header id="header">
<a href="index.html">HOME</a> /
<a href="https://real.stanford.edu/">LAB</a>
</header>
<div id="profile">
<div id="profile-pic">
<img src="images/people/shuran_song.jpg">
<p>
<a href="https://scholar.google.com/citations?hl=en&user=5031vK4AAAAJ&view_op=list_works&sortby=pubdate">Google Scholar</a> / <a href="https://twitter.com/SongShuran">Twitter</a>
</p>
</div>
<div id="profile-intro">
<div id="profile-name">Shuran Song</div>
<p>
Assistant Professor of Electrical Engineering, by courtesy, of Computer Science at <a href="http://stanford.edu/"> Stanford University</a> <br>
I lead the Robotics and Embodied AI Lab at Stanford University(<a href="https://real.stanford.edu/"> REAL@Stanford </a>). 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 <a href="https://real.stanford.edu/"> REAL website</a>.
<p>
Email: shuran [at] stanford [dot] edu <br>
Office: RM258, 350 Jane Stanford Way Packard Bldg Stanford, CA 94305.
</p>
</div>
<div style="clear: both;"></div>
</div>
<div class="section recent-work">
<div class="slider">
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</div>
</div>
<div class="divider"></div>
<div class="section">
<h1>Recent Talks</h1>
<p>
<ul>
<li> Cross-Embodiment Learning for Dexterous Manipulation
(<a href="https://www.youtube.com/watch?v=cUKNbwqElCw"> Recording </a>) at <a href="https://sites.google.com/view/dexterity-workshop-icra2025/home"> Handy Moves Workshop</a> @ ICRA'25 </li>
<li> Self-Adaptive Robots
(<a href="https://www.dropbox.com/scl/fi/qkfka04zepcj4vydnhcd3/RSS_EARL.pdf?rlkey=ukg014p9rkz9fgh25theyozjk&dl=0"> Slides </a>) at <a href="https://earl.robot-learning.net/"> Workshop on Embodiment-Aware Robot Learning (EARL) </a> @ RSS'24 </li>
<li> Navigating the Upward Spiral for Sensorimotor Learning
(<a href="https://www.dropbox.com/scl/fi/6j07bw2pxg96gqrmq008z/ICRA24_futureroadmap.pdf?rlkey=pv7ht9g1d8deakbdht5j7u6y0&dl=0"> Slides </a>) Keynote at <a href="https://icra-manipulation-skill.github.io/"> A Future Roadmap for Sensorimotor Skill Learning for Robot Manipulation </a> @ ICRA’24 </li>
<li> What I wish I had for Robot Learning
(<a href="https://www.dropbox.com/scl/fi/obcik2tpg7py3i86yczrv/CoRL23_conference.pdf?rlkey=bunk5ptmwjbdqclwe47jnkl8b&dl=0"> Slides </a>) Early Career Keynote at <a href="https://www.corl2023.org/speakers">Conference on Robot Learning </a> </li>
<li> Learning Meets Gravity: Robots that Embrace Dynamics and Pixels
(<a href="https://www.ri.cmu.edu/event/learning-meets-gravity-robots-that-learn-to-embrace-dynamics-from-data/"> Talk </a>) at CMU Robotics Institute</li>
<span id="moreTalks">
<li> Abstraction as Inductive Bias: Open-World 3D Scene Understanding without Open-World 3D Data
(<a href="https://www.cs.columbia.edu/~shurans/talks/CoRL_inductive_bias.pdf"> Slide </a>) at <a href="https://sites.google.com/view/corl-2022-inductive-bias-ws/home?authuser=0"> Inductive Bias in Robot Learning Workshop</a> @ CoRL'22</li>
<li> The Reasonable Effectiveness of Dynamic Manipulation for Deformable Objects(<a href="https://www.youtube.com/watch?v=Pia-V67ishw&ab_channel=UniversityofTorontoRoboticsInstitute"> Talk </a>) at University of Toronto Robotics Institute </li>
<li> Structure from Action: Articulated Object Structure Discovery with Active Interactions (<a href="https://www.cs.columbia.edu/~shurans/talks/StrcturefromAction.pdf"> Slides </a>) at ICCV <a href="https://geometry.stanford.edu/struco3d/"> Struco3D Workshop </a> </li>
<li> Self-Adaptive Manipulation (<a href="https://www.cs.columbia.edu/~shurans/talks/self-adaptive-grasping.pdf"> Slides </a>) (<a href="https://www.youtube.com/watch?v=f2OZPwhSQu4&ab_channel=AllenInstituteforAI"> Talk </a>) </li>
<li>Unfolding the Unseen: Deformable Cloth Perception and Manipulation (<a href="https://www.cs.columbia.edu/~shurans/talks/unfold_unsceen.m4v"> Slides Video </a> <a href="https://www.cs.columbia.edu/~shurans/talks/Cloth_Precpetion.pdf"> PDF</a>) (<a href="https://www.youtube.com/watch?v=Ek20Zw77QPU&ab_channel=3DGVSeminar"> Talk </a>) </li>
<li>Active Scene Understanding with Robot Interactions (<a href="https://www.cs.columbia.edu/~shurans/talks/2020_active_scene.pdf"> Slides </a>) </li>
<li>Category-level Pose Estimation (<a href="https://www.cs.columbia.edu/~shurans/talks/Pose_Estimation_ECCV_2020.pdf"> Slides </a>) at ECCV2020 <a href="http://cmp.felk.cvut.cz/sixd/workshop_2020/"> Workshop on Recovering 6D Object Pose </a></li>
<li>Learning Visual Representations for Generalizable Manipulation (<a href="https://www.cs.columbia.edu/~shurans/talks/visualrep_manuplation_cvpr2020.pdf"> Slides </a>) at CVPR2020 <a href="https://scene-understanding.com/"> 3D Scene Understanding for Vision, Graphics, and Robotics </a></li>
</span>
<div onclick="toggleTalks()" id="moreTalksBtn" class="showBtn"><a>Show more...</a></div>
<div onclick="toggleTalks()" id="lessTalksBtn" class="showBtn"><a>Show less...</a></div>
</ul>
</p>
<div style="clear: both;"></div>
</div>
<div class="divider"></div>
<div class="section research">
<h1>Publications</h1>
<div class="research-proj">
<a href="https://umi-under-water.github.io/" class="research-thumb">
<img src="images/projects/DICE-RL.png" alt="" />
</a>
<a href="https://zhanyisun.github.io/dice.rl.2026/" class="research-proj-title">From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning</a>
<p> Zhanyi Sun, Shuran Song<br>
arXiv 2026 <br>
<a href="https://zhanyisun.github.io/dice.rl.2026/">Webpage</a> •
<a href="https://arxiv.org/pdf/2603.10263">Paper</a> •
<a href="https://zhanyisun.github.io/dice.rl.2026/">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://hommi-robot.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/hommi.mp4" type="video/mp4">
</video>
</a>
<a href="https://hommi-robot.github.io/" class="research-proj-title">HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations </a>
<p> Xiaomeng Xu, Jisang Park, Han Zhang, Eric Cousineau, Aditya Bhat, Jose Barreiros, Dian Wang, Shuran Song<br>
arXiv 2026 <br>
<a href="https://hommi-robot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2603.03243">Paper</a> •
<a href="https://github.com/xxm19/hommi">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-under-water.github.io/" class="research-thumb">
<img src="images/projects/umi-underwater.png" alt="" />
</a>
<a href="https://umi-under-water.github.io/" class="research-proj-title">UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation </a>
<p> Hao Li*, Long Yin Chung*, Jack Goler, Ryan Zhang, Xiaochi Xie, Huy Ha, Shuran Song, Mark Cutkosky <br>
arXiv 2026 <br>
<a href="https://umi-under-water.github.io/">Webpage</a> •
<a href="https://umi-under-water.github.io/static/pdfs/UMI_Underwater.pdf">Paper</a> •
<a href="https://github.com/umi-under-water/UMI_underwater">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-ft.github.io/" class="research-thumb">
<img src="images/projects/UMIFT.png" alt="" />
</a>
<a href="https://umi-ft.github.io/" class="research-proj-title">In-the-Wild Compliant Manipulation with UMI-FT </a>
<p> Hojung Choi*, Yifan Hou*, Chuer Pan, Seongheon Hong, Austin Patel, Xiaomeng Xu, Mark Cutkosky, and Shuran Song<br>
ICRA 2026 <br>
<a href="https://umi-ft.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2601.09988">Paper</a> •
<a href="https://docs.google.com/document/d/e/2PACX-1vRrfSfjj3ct5u4bdyJYX92zH3QwZahU1D0nfb9wjb6GqDXqEZYVsaxwcCh1gwJgjRlq1fbgLJECGoPf/pub">Hardware</a> </a> •
<a href="https://github.com/real-stanford/UMI-FT">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-on-air.github.io/" class="research-thumb">
<img src="images/projects/umi-on-air.png" alt="" />
</a>
<a href="https://umi-on-air.github.io/" class="research-proj-title">UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies</a>
<p> Harsh Gupta, Xiaofeng Gao, Huy Ha, Chuer Pan, Muqing Cao, Dongjae Lee, Sebastian Scherer, Shuran Song, Guanya Shi <br>
ICRA 2026 <br>
<a href="https://umi-on-air.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2510.02614">Paper</a> •
<a href="https://umi-on-air.github.io/">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://sites.google.com/view/snoopie" class="research-thumb">
<img src="images/projects/Pacerbot.png" alt="" />
</a>
<a href="https://sites.google.com/view/snoopie" class="research-proj-title">Will People Enjoy a Robot Trainer? A Case Study with Snoopie the Pacerbot</a>
<p> Maximilian Du, Jennifer Grannen, Shuran Song, Dorsa Sadigh <br>
ICRA 2026 <br>
<a href="https://sites.google.com/view/snoopie">Webpage</a> •
<a href="https://sites.google.com/view/snoopie">Paper</a> •
</p>
</div>
<div class="research-proj">
<a href="https://locomotion-beyond-feet.github.io/" class="research-thumb">
<img src="images/projects/locomotion.png" alt="" />
</a>
<a href="https://locomotion-beyond-feet.github.io/" class="research-proj-title"> Locomotion Beyond Feet</a>
<p> Tae Hoon Yang, Jiacheng Hu, Haochen Shi, Zhicong Zhang, Daniel Jiang, Weizhuo Wang, Yao He, Zhen Wu, Yifan Hou, Monroe Kennedy, Shuran Song, Karen Liu <br>
arXiv 2025 <br>
<a href="https://locomotion-beyond-feet.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2601.03607">Paper</a> •
<a href="https://github.com/hshi74/toddlerbot">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://robotgen4d.github.io/" class="research-thumb">
<img src="images/projects/4d-gen.png" alt="" />
</a>
<a href="" class="research-proj-title"> Geometry-aware 4D Video Generation for Robot Manipulation</a>
<p> Zeyi Liu, Shuang Li, Eric Cousineau, Siyuan Feng, Benjamin Burchfiel, Shuran Song <br>
ICLR 2026 <br>
<a href="https://robotgen4d.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2507.01099">Paper</a> •
<a href="https://robotgen4d.github.io/">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://research.nvidia.com/labs/dir/cosmos-policy/" class="research-thumb">
<img src="images/projects/cosmos.png" alt="" />
</a>
<a href="" class="research-proj-title"> Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning</a>
<p> Moo Jin Kim, Yihuai Gao, Tsung-Yi Lin, Yen-Chen Lin, Yunhao Ge, Grace Lam, Percy Liang, Shuran Song, Ming-Yu Liu, Chelsea Finn, Jinwei Gu <br>
ICLR 2026 <br>
<a href="https://research.nvidia.com/labs/dir/cosmos-policy/">Webpage</a> •
<a href="https://arxiv.org/abs/2601.16163">Paper</a> •
<a href="https://github.com/nvlabs/cosmos-policy">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://project-latentpolicybarrier.github.io/" class="research-thumb">
<img src="images/projects/LatentPolicyBarrier.png" alt="" />
</a>
<a href="https://project-latentpolicybarrier.github.io/" class="research-proj-title">Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution</a>
<p> Zhanyi Sun, Shuran Song <br>
NeurIPS 2025 <br>
<strong> Spotlight Presentation </strong> •
<a href="https://project-latentpolicybarrier.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2508.05941">Paper</a> •
<a href="https://project-latentpolicybarrier.github.io/">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://dynaguide.github.io/" class="research-thumb">
<img src="images/projects/DynaGuide.png" alt="" />
</a>
<a href="https://dynaguide.github.io/" class="research-proj-title">DynaGuide: Steering Diffusion Policies with Active Dynamic Guidance</a>
<p> Max Du, Shuran Song <br>
NeurIPS 2025 <br>
<a href="https://dynaguide.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2506.13922">Paper</a> •
<a href="http://github.com/MaxDu17/DynaGuide">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://compliant-residual-dagger.github.io/" class="research-thumb">
<img src="images/projects/CRDagger.png" alt="" />
</a>
<a href="https://compliant-residual-dagger.github.io/" class="research-proj-title">Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections</a>
<p> Xiaomeng Xu, Yifan Hou, Chendong Xin, Zeyi Liu, Shuran Song <br>
NeurIPS 2025 <br>
<a href="https://compliant-residual-dagger.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2506.16685">Paper</a> •
<a href="https://compliant-residual-dagger.github.io/">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://arxiv.org/abs/2505.13431" class="research-thumb">
<img src="images/projects/SymmetryDiffusion.png" alt="" />
</a>
<a href="https://arxiv.org/abs/2505.13431" class="research-proj-title">A Practical Guide for Incorporating Symmetry in Diffusion Policy</a>
<p> Dian Wang, Boce Hu, Shuran Song, Robin Walters, Robert Platt <br>
NeurIPS 2025 <br>
<a href="https://arxiv.org/abs/2505.13431">Paper</a>
</p>
</div>
<div class="research-proj">
<a href="https://rectified-pointflow.github.io/" class="research-thumb">
<img src="images/projects/rpf.png" alt="" />
</a>
<a href="https://rectified-pointflow.github.io/" class="research-proj-title">Rectified Point Flow: Generic Point Cloud Pose Estimation</a>
<p> Tao Sun, Liyuan Zhu, Shengyu Huang, Shuran Song, Iro Armeni <br>
NeurIPS 2025 <br>
<strong> Spotlight Presentation </strong> •
<a href="https://rectified-pointflow.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2506.05282">Paper</a> •
<a href="https://github.com/GradientSpaces/Rectified-Point-Flow">Code</a>
</p>
</div>
<div class="research-proj">
<a href="https://dex-umi.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/dexumi_thumbnail.mp4" type="video/mp4">
</video>
</a>
<a href="https://dex-umi.github.io/" class="research-proj-title"> DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation </a>
<p> Mengda Xu*, Han Zhang*, Yifan Hou, Zhenjia Xu, Linxi Fan, Manuela Veloso, Shuran Song <br>
CoRL 2025 <br>
<strong>Best Paper Finalist</strong> •
<strong>Oral Presentation</strong> •
<a href="https://dex-umi.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2505.21864v2">Paper</a> •
<a href="https://github.com/real-stanford/DexUMI">Code</a> •
<a href="https://dex-umi.github.io/tutorial/hardware.html">Hardware</a>
</p>
</div>
<div class="research-proj">
<a href="https://vision-in-action.github.io/" class="research-thumb">
<img src="images/projects/via.png" alt="" />
</a>
<a href="https://vision-in-action.github.io/" class="research-proj-title"> Vision in Action: Learning Active Perception from Human Demonstrations </a>
<p> Haoyu Xiong, Xiaomeng Xu, Jimmy Wu, Yifan Hou, Jeannette Bohg, Shuran Song <br>
CoRL 2025 <br>
<a href="https://vision-in-action.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2506.15666">Paper</a> •
<a href="https://github.com/haoyu-x/vision-in-action">Code</a> •
<a href="https://github.com/haoyu-x/vision-in-action/tree/main/hardware">Hardware</a>
</p>
</div>
<div class="research-proj">
<a href="https://robot-trains-robot.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/rtr.mp4" type="video/mp4">
</video>
</a>
<a href="https://robot-trains-robot.github.io/" class="research-proj-title"> Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids </a>
<p> Kaizhe Hu*, Haochen Shi*, Yao He, Weizhuo Wang, C. Karen Liu†, Shuran Song† <br>
CoRL 2025 <br>
<a href="https://robot-trains-robot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2508.12252">Paper</a> •
<a href="https://robot-trains-robot.github.io/">Code</a> •
<a href="https://robot-trains-robot.github.io/">Hardware</a>
</p>
</div>
<div class="research-proj">
<a href="https://toddlerbot.github.io/" class="research-thumb">
<img src="images/projects/Toddy.png" alt="" />
</a>
<a href="https://toddlerbot.github.io/" class="research-proj-title"> ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation </a>
<p> Haochen Shi, Weizhuo Wang, Shuran Song, C. Karen Liu <br>
CoRL 2025 <br>
<a href="https://toddlerbot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2502.00893">Paper</a> •
<a href="https://toddlerbot.github.io/">Hardware+Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://sites.google.com/view/1001-demos-corl" class="research-thumb">
<img src="images/projects/1001Demo.png" alt="" />
</a>
<a href="https://sites.google.com/view/1001-demos-corl" class="research-proj-title"> One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies</a>
<p> Chuer Pan, Litian Liang, Dominik Bauer, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Shuran Song <br>
CoRL 2025 <br>
<a href="https://sites.google.com/view/1001-demos-corl">Webpage</a> •
<a href="https://sites.google.com/view/1001-demos-corl">Paper</a> •
<a href="https://sites.google.com/view/1001-demos-corl">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://behavior-robot-suite.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/brs.mp4" type="video/mp4">
</video>
</a>
<a href="https://behavior-robot-suite.github.io/" class="research-proj-title"> BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities </a>
<p> Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, Li Fei-Fei <br>
CoRL 2025
<a href="https://behavior-robot-suite.github.io/">Webpage</a> •
<a href="https://behavior-robot-suite.github.io/">Paper</a> •
</p>
</div>
<div class="research-proj">
<a href="https://unified-video-action-model.github.io/" class="research-thumb">
<img src="images/projects/UVA.png" alt="" />
</a>
<a href="https://unified-video-action-model.github.io/" class="research-proj-title"> Unified Video Action Model </a>
<p> Shuang Li, Yihuai Gao, Dorsa Sadigh, Shuran Song <br>
RSS 2025 <br>
<a href="https://unified-video-action-model.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2503.00200">Paper</a> •
<a href="https://unified-video-action-model.github.io/">Code+Model</a>
</p>
</div>
<br>
<div class="research-proj">
<a href="https://robopanoptes.github.io//" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/robopanotes.mp4" type="video/mp4">
</video>
</a>
<a href="https://robopanoptes.github.io/" class="research-proj-title"> RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity </a>
<p> Xiaomeng Xu, Dominik Bauer, Shuran Song <br>
RSS 2025 <br>
<a href="https://robopanoptes.github.io/"> Webpage</a> •
<a href="https://arxiv.org/abs/2501.05420"> Paper</a> •
<a href="https://robopanoptes.github.io/"> Hardware+Code </a>
</p>
</div>
<br>
<div class="research-proj">
<a href="https://aquabot.cs.columbia.edu/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/aquabot.mp4" type="video/mp4">
</video>
</a>
<a href="https://aquabot.cs.columbia.edu/" class="research-proj-title"> Self-Improving Autonomous Underwater Manipulation </a>
<p> Ruoshi Liu, Huy Ha, Mengxue Hou, Shuran Song, Carl Vondrick <br>
ICRA 2025 <br>
<a href="https://aquabot.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2410.18969">Paper</a> •
<a href="https://github.com/cvlab-columbia/aquabot">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://adaptive-compliance.github.io/" class="research-thumb">
<img src="images/projects/acp.gif" alt="" />
</a>
<a href="https://adaptive-compliance.github.io/" class="research-proj-title"> Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control </a>
<p> Yifan Hou, Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, and Shuran Song <br>
ICRA 2025 <br>
<a href="https://adaptive-compliance.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2410.09309">Paper</a> •
<a href="https://github.com/yifan-hou/adaptive_compliance_policy">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://get-zero-paper.github.io/" class="research-thumb">
<img src="images/projects/get-zero.png" alt="" />
</a>
<a href="https://get-zero-paper.github.io/" class="research-proj-title"> GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization </a>
<p> Austin Patel and Shuran Song <br>
ICRA 2025 <br>
<a href="https://get-zero-paper.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2407.15002">Paper</a> •
<a href="https://github.com/real-stanford/get_zero">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://real2code.github.io/" class="research-thumb">
<img src="images/projects/real2code.png" alt="" />
</a>
<a href="https://real2code.github.io/" class="research-proj-title">Real2Code: Reconstruct Articulated Objects via Code Generation</a>
<p> Zhao Mandi, Yijia Weng, Dominik Bauer, Shuran Song <br>
ICRL 2025 <br>
<a href="https://real2code.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2406.08474">Paper</a> •
<a href="https://github.com/MandiZhao/real2code">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://tidybot2.github.io/" class="research-thumb">
<img src="images/projects/wu2024tidybot.gif" alt="" />
</a>
<a href="https://tidybot2.github.io/" class="research-proj-title"> TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning </a>
<p> Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://tidybot2.github.io/">Webpage</a> •
<a href="https://tidybot2.github.io/">Paper</a> •
<a href="https://github.com/jimmyyhwu/tidybot2">Code </a>
<a href="https://tidybot2.github.io/docs/">Hardware Guide </a>
</p>
</div>
<div class="research-proj">
<a href="https://drrobot.cs.columbia.edu/" class="research-thumb">
<img src="images/projects/drrobot.png" alt="" />
</a>
<a href="https://drrobot.cs.columbia.edu/" class="research-proj-title"> Differentiable Robot Rendering</a>
<p> Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick<br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://drrobot.cs.columbia.edu/">Webpage</a> •
<a href="https://drrobot.cs.columbia.edu/">Paper</a> •
<a href="https://drrobot.cs.columbia.edu/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://im-flow-act.github.io/" class="research-thumb">
<img src="images/projects/im2flow2act.png" alt="" />
</a>
<a href="https://im-flow-act.github.io/" class="research-proj-title"> Flow as the Cross-domain Manipulation Interface</a>
<p> Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://im-flow-act.github.io/">Webpage</a> •
<a href="https://im-flow-act.github.io/static/pdf/Flow_as_the_Cross_Domain_Manipulation_Interface.pdf">Paper</a> •
<a href="https://im-flow-act.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-on-legs.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/umi-on-leg.mp4" type="video/mp4">
</video>
</a>
<a href="https://umi-on-legs.github.io/" class="research-proj-title"> UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers </a>
<p> Huy Ha*, Yihuai Gao*, Zipeng Fu, Jie Tan, Shuran Song <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://umi-on-legs.github.io/">Webpage</a> •
<a href="https://umi-on-legs.github.io/">Paper</a> •
<a href="https://umi-on-legs.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://mani-wav.github.io/" class="research-thumb">
<img src="images/projects/maniwav.png" alt="" />
</a>
<a href="https://mani-wav.github.io/" class="research-proj-title"> ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data </a>
<p> Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://mani-wav.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2406.19464">Paper</a> •
<a href="https://mani-wav.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://equi-bot.github.io/" class="research-thumb">
<img src="images/projects/EquiBot.png" alt="" />
</a>
<a href="https://equi-bot.github.io/" class="research-proj-title"> EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning </a>
<p> Jingyun Yang*, Zi-ang Cao*, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://equi-bot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2407.01479">Paper</a> •
<a href="https://github.com/yjy0625/equibot">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://mani-wav.github.io/" class="research-thumb">
<img src="images/projects/dreamitate.gif" alt="" />
</a>
<a href="https://dreamitate.cs.columbia.edu/" class="research-proj-title"> Dreamitate: Real-World Visuomotor Policy Learning via Video Generation </a>
<p> Junbang Liang*, Ruoshi Liu*, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave, Pavel Tokmakov, Shuran Song, Carl Vondrick <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://dreamitate.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2406.16862">Paper</a> •
<a href="https://dreamitate.cs.columbia.edu/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://dgdm-robot.github.io/" class="research-thumb">
<img src="images/projects/dgdm.jpeg" alt="" />
</a>
<a href="https://dgdm-robot.github.io/" class="research-proj-title"> Dynamics-Guided Diffusion Model for Robot Manipulator Design </a>
<p> Xiaomeng Xu, Huy Ha, Shuran Song <br>
Conference on Robot Learning (CoRL 2024) <br>
<a href="https://dgdm-robot.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2402.15038">Paper</a> •
<a href="https://dgdm-robot.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://paperbot.cs.columbia.edu/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/paperbot.mp4" type="video/mp4">
</video>
</a>
<a href="https://paperbot.cs.columbia.edu/" class="research-proj-title"> PaperBot: Learning to Design Real-World Tools Using Paper </a>
<p> Ruoshi Liu, Junbang Liang, Sruthi Sudhakar, Huy Ha, Cheng Chi, Shuran Song, Carl Vondrick <br>
arXiv 2024 <br>
<a href="https://paperbot.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2403.09566">Paper</a> •
<a href="https://github.com/cvlab-columbia/paperbot">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://paperbot.cs.columbia.edu/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/doughnet.webm" type="video/mp4">
</video>
</a>
<a href="https://dough-net.github.io/" class="research-proj-title"> DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects </a>
<p> Dominik Bauer, Zhenjia Xu, Shuran Song <br>
ECCV 2024 <br>
<a href="https://dough-net.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2404.12524">Paper</a> •
<a href="https://dough-net.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://umi-gripper.github.io/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/umi_thumbnail.mp4" type="video/mp4">
</video>
</a>
<a href="https://umi-gripper.github.io/" class="research-proj-title"> Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots </a>
<p> Cheng Chi*, Zhenjia Xu*, Chuer Pan, Eric Cousineau, Ben Burchfiel, Siyuan Feng, Russ Tedrake, Shuran Song <br>
RSS 2024 <br>
<strong>Outstanding System Paper Finalist</strong> •
<a href="https://umi-gripper.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2402.10329">Paper</a> •
<a href="https://umi-gripper.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://droid-dataset.github.io/" class="research-thumb">
<img src="images/projects/Dorid.png" alt="" />
</a>
<a href="https://droid-dataset.github.io/" class="research-proj-title"> DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset </a>
<p> Alexander Khazatsky, Karl Pertsch et al <br>
RSS 2024 <br>
<a href="https://droid-dataset.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2403.12945">Paper</a> •
<a href="https://colab.research.google.com/drive/1b4PPH4XGht4Jve2xPKMCh-AXXAQziNQa?usp=sharing">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://project-roco.github.io/" class="research-thumb">
<img src="images/projects/roco.jpg" alt="" />
</a>
<a href="https://project-roco.github.io/" class="research-proj-title"> RoCo: Dialectic Multi-Robot Collaboration with Large Language Models </a>
<p> Zhao Mandi, Shreeya Jain, Shuran Song <br>
International Conference on Robotics and Automation (<b>ICRA 2024</b>)<br>
<a href="https://project-roco.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2307.04738">Paper</a> •
<a href="https://project-roco.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://robotics-transformer-x.github.io/" class="research-thumb">
<img src="images/projects/RT-x.png" alt="" />
</a>
<a href="https://robotics-transformer-x.github.io/" class="research-proj-title"> Open X-Embodiment: Robotic Learning Datasets and RT-X Models</a>
<p> Abhishek Padalkar et al <br>
International Conference on Robotics and Automation (ICRA 2024) <br>
<strong>Best Paper Award</strong> •
<a href="https://robotics-transformer-x.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2310.08864.pdf">Paper</a> •
<a href="https://robotics-transformer-x.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://datacomp.ai/" class="research-thumb">
<img src="images/projects/datacomp.png" alt="" />
</a>
<a href="https://arxiv.org/abs/2304.14108" class="research-proj-title"> DataComp: In search of the next generation of multimodal datasets </a>
<p> Samir Yitzhak Gadre*, Gabriel Ilharco*, Alex Fang* et al. <br>
NeurIPS, 2023 (oral) <br>
<a href="https://datacomp.ai/">Webpage</a> •
<a href="https://arxiv.org/abs/2304.14108">Paper</a> •
<a href="https://github.com/mlfoundations/datacomp">Code </a>
</p>
<p> <br> </p>
</div>
<div class="research-proj">
<a href="https://www.cs.columbia.edu/~huy/scalingup/" class="research-thumb">
<video playsinline="" muted="" autoplay="" loop="" width="180px">
<source src="images/projects/scalingup-teaser.mp4" type="video/mp4">
</video>
</a>
<a href="https://www.cs.columbia.edu/~huy/scalingup/" class="research-proj-title"> Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition </a>
<p> Huy Ha, Pete Florence, Shuran Song <br>
Conference on Robot Learning 2023 <br>
<a href="https://www.cs.columbia.edu/~huy/scalingup/">Webpage</a> •
<a href="https://arxiv.org/abs/2307.14535">Paper</a> •
<a href="https://github.com/columbia-ai-robotics/scalingup">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://robot-reflect.github.io/" class="research-thumb">
<img src="images/projects/reflect.png" alt="" />
<a href="https://robot-reflect.github.io/" class="research-proj-title"> REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction </a>
<p>
Zeyi Liu*, Arpit Bahety*, Shuran Song
<br>
Conference on Robot Learning 2023 <br>
<a href="https://robot-reflect.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2306.15724">Paper</a> •
<a href="https://github.com/columbia-ai-robotics/reflect">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://xskillcorl.github.io/" class="research-thumb">
<img src="images/projects/Xskill.png" alt="" />
<a href="https://xskillcorl.github.io/" class="research-proj-title"> XSkill: Cross Embodiment Skill Discovery </a>
<p>
Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song
<br>
Conference on Robot Learning 2023 <br>
<a href="https://xskillcorl.github.io/">Webpage</a> •
<a href="https://arxiv.org/abs/2307.09955">Paper</a> •
<a href="https://xskillcorl.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://general-part-assembly.github.io/" class="research-thumb">
<img src="images/projects/GPAT.jpeg" alt="" />
<a href="https://general-part-assembly.github.io/" class="research-proj-title"> Rearrangement Planning for General Part Assembly </a>
<p>
Yulong Li, Andy Zeng, Shuran Song
<br>
Conference on Robot Learning 2023 <br>
<strong>Oral Presentation</strong> •
<a href="https://general-part-assembly.github.io/">Webpage</a> •
<a href="https://arxiv.org/pdf/2307.00206.pdf">Paper</a> •
<a href="https://general-part-assembly.github.io/">Code </a>
</p>
</div>
<div class="research-proj">
<a href="https://tidybot.cs.princeton.edu/" class="research-thumb"><img src="images/projects/wu2023tidybot.gif" alt="" /></a>
<a href="https://tidybot.cs.princeton.edu/" class="research-proj-title"> TidyBot: Personalized Robot Assistance with Large Language Models </a>
<p>
Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser<br>
Autonomous Robots (AuRo) - Special Issue: Large Language Models in Robotics, 2023 <br>
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 <br>
<a href="https://tidybot.cs.princeton.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2305.05658">Paper</a> •
<a href="https://github.com/jimmyyhwu/tidybot">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://sfa.cs.columbia.edu/" class="research-thumb"><img src="images/projects/sfa.png" alt="" /></a>
<a href="https://sfa.cs.columbia.edu/" class="research-proj-title"> Structure From Action: Learning Interactions for Articulated Object 3D Structure Discovery </a>
<p>
Neil Nie, Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song <br>
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 <br>
<a href="https://sfa.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2207.08997">Paper</a>
</p>
</div>
<div class="research-proj">
<a href="https://bag-all-you-need.cs.columbia.edu/" class="research-thumb"><img src="images/projects/bag.png" alt="" /></a>
<a href="https://bag-all-you-need.cs.columbia.edu/" class="research-proj-title"> Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objects </a>
<p>
Arpit Bahety*, Shreeya Jain*, Huy Ha, Nathalie Hager, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song <br>
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 <br>
<a href="https://bag-all-you-need.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2210.09997">Paper</a>
</p>
</div>
<div class="research-proj">
<a href="https://diffusion-policy.cs.columbia.edu/" class="research-thumb"><img src="images/projects/diffusion.gif" alt="" /></a>
<a href="https://diffusion-policy.cs.columbia.edu/" class="research-proj-title"> Diffusion Policy: Visuomotor Policy Learning via Action Diffusion </a>
<p>
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song<br>
Robotics: Science and Systems (RSS) 2023<br>
<a href="https://diffusion-policy.cs.columbia.edu/">Webpage</a> •
<a href="https://diffusion-policy.cs.columbia.edu/">Paper</a> •
<a href="https://github.com/columbia-ai-robotics/diffusion_policy">Code</a> •
</p>
</div>
<div class="research-proj">
<a href="https://roboninja.cs.columbia.edu/" class="research-thumb"><img src="images/projects/RoboNinja_RSS.gif" alt="" /></a>
<a href="https://roboninja.cs.columbia.edu/" class="research-proj-title"> RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects </a>
<p>
Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song<br>
Robotics: Science and Systems (RSS) 2023 <br>
<a href="https://roboninja.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2302.11553">Paper</a> •
<a href="https://github.com/columbia-ai-robotics/roboninja">Code & Simulation </a> •
</p>
</div>
<div class="research-proj">
<a href="https://cow.cs.columbia.edu/" class="research-thumb"><img src="images/projects/cow.png" alt="" /></a>
<a href="https://cow.cs.columbia.edu/" class="research-proj-title">CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation <br> (a.k.a Clip on Wheels) </a>
<p>
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, Shuran Song <br>
Conference on Computer Vision and Pattern Recognition (CVPR 2022) <br>
<a href="https://cow.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2203.10421">Paper</a>
<!-- • <a href="">Code Coming Soon</a> -->
</p>
</div>
<div class="research-proj">
<a href="https://clothfunnels.cs.columbia.edu/" class="research-thumb"><img src="images/projects/funnel.png" alt="" /></a>
<a href="https://clothfunnels.cs.columbia.edu/" class="research-proj-title"> Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation </a>
<p>
Alper Canberk, Cheng Chi, Huy Ha, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song<br>
International Conference on Robotics and Automation (<b>ICRA 2023</b>)<br>
<a href="https://clothfunnels.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2210.09347">Paper</a> •
</p>
</div>
<div class="research-proj">
<a href="https://jxu.ai/tandem3d/" class="research-thumb"><img src="images/projects/touch3d.png" alt="" /></a>
<a href="https://jxu.ai/tandem3d/" class="research-proj-title"> TANDEM3D: Active Tactile Exploration for 3D Object Recognition </a>
<p>
Jingxi Xu*, Han Lin*, Shuran Song, Matei Ciocarlie <br>
International Conference on Robotics and Automation (<b>ICRA 2023</b>)<br>
<a href="https://jxu.ai/tandem3d/">Webpage</a> •
<a href="https://arxiv.org/abs/2209.08772">Paper</a> •
</p>
</div>
<div class="research-proj">
<a href="https://semantic-abstraction.cs.columbia.edu/" class="research-thumb"><img src="images/projects/semabs-rect.gif" alt="" /></a>
<a href="https://semantic-abstraction.cs.columbia.edu/" class="research-proj-title"> Semantic Abstraction: Open-World 3D Scene Understanding from 2D Vision-Language Models </a>
<p>
Huy Ha, Shuran Song <br>
Conference on Robot Learning (<b>CoRL2022</b>)<br>
<a href="https://semantic-abstraction.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/pdf/2207.11514.pdf">Paper</a> •
<a href="https://github.com/columbia-ai-robotics/semantic-abstraction">Code</a> •
<a href="https://huggingface.co/spaces/huy-ha/semabs-relevancy">Demo on Huggingface</a>
</p>
</div>
<div class="research-proj">
<a href="https://busybot.cs.columbia.edu/" class="research-thumb"><img src="images/projects/busybot.gif" alt="" /></a>
<a href="https://busybot.cs.columbia.edu/" class="research-proj-title"> BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment </a>
<p>
Zeyi Liu, Zhenjia Xu, Shuran Song <br>
Conference on Robot Learning (<b>CoRL2022</b>)<br>
<a href="https://busybot.cs.columbia.edu/">Webpage</a> •
<a href="https://arxiv.org/abs/2207.08192">Paper</a> •
<a href="https://github.com/columbia-ai-robotics/BusyBot">Code</a>
</p>
</div>