Picture taken by Huy Ha

Cheng Chi 迟宬

chchi at stanford dot edu

I'm a Computer Science PhD student at Columbia University and a Student of New Faculty (SNF) at Stanford University. I have always been fascinated by the interaction between computers and the physical world. Branching out from this theme, I have explored Geometric/Probabilistic Algorithms, Mapping/Geographic Information Systems, and Camera Architecture/Computational Photography under various academic and industrial settings.

I'm fortunate to be advised by Professor Shuran Song. My research will focus on robotic manipulation and perception.

Learning random things has been the greatest source of pleasure for me, and I hope this will never stop. Recently, I have been studying the science of cooking in my free time.

CV / Twitter / Github

Updates

May 2024 Two papers accepted to RSS 2024
Apr 2023 Two papers accepted to RSS 2023
Dec 2022 Got into NVIDIA Graduate Fellowship Finalist.
Jun 2022 Iterative Residual Policy won the Best Paper Award at RSS 2022!
May 2022 Iterative Residual Policy has been selected as Best Student Paper Finalist at RSS 2022!
May 2022 DextAIRity has been selected as Best Systems Paper Finalist at RSS 2022!
May 2022 Two papers accepted to RSS 2022
Jul 2021 GarmentNets has been accpeted to ICCV 2021
Jan 2021 I started my PhD at Columbia University, advised by Prof. Shuran Song
Jan 2020 I started working for Nuro's Mapping and Localization Team

Research

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

Cheng Chi*, Zhenjia Xu*, Chuer Pan, Eric Cousineau, Ben Burchfiel, Siyuan Feng,
Russ Tedrake, Shuran Song
Robotics: Science and Systems (RSS) 2024
Website • ArXiv • Twitter

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Abhishek Padalkar et al
International Conference on Robotics and Automation (ICRA) 2024
Best Paper Award • Website • ArXiv

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Ben Burchfiel, Shuran Song
Robotics: Science and Systems (RSS) 2023
Website • ArXiv • Twitter

XSkill: Cross Embodiment Skill Discovery

Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song
Conference on Robot Learning (CoRL) 2023
Website • ArXiv

RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects

Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song
Robotics: Science and Systems (RSS) 2023
Website • ArXiv • Video

Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation

Alper Canberk, Cheng Chi, Huy Ha, Ben Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song
International Conference on Robotics and Automation (ICRA) 2023
Website • ArXiv • Video

Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objects

Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song,
Robotics: Science and Systems (RSS) 2022
Best Paper Award • Best Student Paper Finalist • Website • ArXiv • Video

DextAIRity: Deformable Manipulation Can be a Breeze

Zhenjia Xu, Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song,
Robotics: Science and Systems (RSS) 2022
Best Systems Paper Finalist • Website • ArXiv • Video

GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion

Cheng Chi, Shuran Song
The IEEE International Conference on Computer Vision (ICCV) 2021
Website • ArXiv • Video

Occlusion-robust Deformable Object Tracking without Physics Simulation

Cheng Chi, Dmitry Berenson
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019
ArXiv • Github • Video