| CARVIEW |
 |
Lin Shao
Assistant Professor at
Department of Computer Science, School of Computing National University of Singapore
Email: linshao at nus dot edu dot sg
Office:COM2-03-03 |
About
-
My research interests lie at the intersection of robotics and artificial intelligence. My long-term goal is to holistically build general-purpose robotic systems that intelligently perform a diverse range of tasks in a large variety of environments in the physical world. Specifically, my group is interested in developing algorithms and systems to provide robots with the abilities of perception and manipulation. I serve as a co-chair of Technical Committee on Robot Learning in the IEEE Robotics and Automation Society, and as an Associate Editor for IEEE Robotics and Automation Letters.
I received my Ph.D. from Stanford University, advised by Professor Jeannette Bohg and co-advised by Professor Leonidas J. Guibas. Prior to joining Stanford, I was an undergraduate at Nanjing University.
PhD Dissertation Committee
-
Jeannette Bohg (Advisor)
Leonidas J. Guibas (Co-advisor)
Oussama Khatib
J. Kenneth Salisbury
Mark Cutkosky (Chair)
News
Joining My Group
-
I am looking for student researchers and postdocs to join my group at NUS. My group also has multiple positions for summer interns and visiting students. Please feel free to send me an email with your CV if you are interested in doing research with me.
People
Postdoc
- Jiajun Deng (University of Science and Technology of China)
- Wenqiang Xu (Shanghai Jiaotong University)
PhD Students
- Chongkai Gao (Tsinghua University)
- Zhixuan Xu (Zhejiang University)
- Chenrui Tie (Peking University)
- Zixuan Liu (Tsinghua University)
- Junting Chen (ETH Zurich)
- Haonan Chen (Nanjing University)
- Yiwen Hou (University of Science and Technology of China)
- Tianrui Zhang (Tsinghua University)
- Fei Xin (Tsinghua University)
- Yuhang Zheng (Beihang University)
Master's Students
- Debang Wang (National University of Singapore)
- Jiayu Luo (Beijing Institute of Technology)
- Zhehao Cai (Nanjing University of Aeronautics and Astronautics)
- Xiao Liu (Beihang University)
- Zeyu Liu (Tongji University)
- Jiayi Li (University of Nottingham)
- Yunfan Lou (Shandong University)
- Tongzhou Zhang (Tongji University)
- Zhewei Gui (Tongji University)
- Haotian Shi (Beijing University of Posts and Telecommunications)
- Li Zhongrui (South China University of Technology)
- Jinheng Li (East China Normal University)
Visiting Scholar
- Zixuan Chen (Nanjing University, CSC funded)
Research Assistants
- Xinyu Chen (Peking University)
- Jinxuan Zhu (Harbin Institute of Technology, Shenzhen)
- Jingxiang Guo (Harbin Institute of Technology, Shenzhen)
- Junxiao Li (Nanjing University)
- Xuanye Wu (Nanyang Technology University)
- Zhaoyu Mu (National University of Singapore)
- Xuchuan Huang (Peking University)
- Shengjia Zhu (Shanghai Jiaotong University)
- Junbo Wang (Shanghai Jiaotong University)
- Mohan Wang (Tongji University)
- Shuo Zhang (Shanghai Jiaotong University)
- Boren Zheng (Tsinghua University)
- Yixin Cao (East China Normal University)
- Yudi Lin (University of Southern California)
- Shengsong Huang (Georgia Institute of Technology)
- Zhenghao Chi (University of Chicago)
- Yiman Pang (Jilin University)
- Jinfeng Wang (Jilin University)
- Zheng Boren (Tsinghua University)
- Yiwei Liu (Sichuan University)
- Shengxiang Sun (University of Toronto)
- Wanqi Zhong (Harbin Institute of Technology)
- Huaicong Fang(Zhejiang University)
Alumni
- Mingxin Yu (Peking University), Next Ph.D. student at MIT
- Yifan You (UCLA), Next Ph.D. student at Berkeley
- Shuo Cheng (UCSD), Next Ph.D. student at Georgia Tech
- Ruiqi Zhang (Tongji University), Next Ph.D. student at Berkeley
- Weikun Peng (Beihang University), Next Ph.D. student at Simon Fraser University
- Zhenyu Wei (Shanghai Jiaotong University), Next Ph.D. student at University of North Carolina at Chapel Hill
- Haoyu Zhou (Beihang University), Next Ph.D. student at Oxford
- Xunzhe Zhou (Fudan University), Next Ph.D. student at The University of Hong Kong
Recent Publications
|
T(R,O) Grasp: Efficient Graph Diffusion of Robot-Object Spatial Transformation for Cross-Embodiment Dexterous Grasping
|
|
VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models |
|
DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Cluttered Environments |
|
MetaFold: Language-Guided Multi-Category Garment Folding Framework via Trajectory Generation and Foundation Model |
|
Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models |
|
TelePreview: A User-Friendly Teleoperation System with
Virtual Arm Assistance for Enhanced Effectiveness |
|
EMOS: Embodiment-aware Heterogeneous Multi-robot Operating System with LLM Agents |
|
FLIP: Flow-Centric Generative Planning as General-Purpose Manipulation World Model |
|
D(R,O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping |
|
TieBot: Model-based Learning to Knot a Tie from Visual
Demonstration via Differentiable Physics-based Simulation |
|
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation |
|
Design and Control of Roller Grasper V3 for
In-Hand Manipulation |
|
ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robots |
|
SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact
Model and Two-way Coupling with Articulated Rigid Bodies and Clothes |
|
Learning Reward for Robot Skills Using Large Language Models via
Self-Alignment |
|
Generalizable Long-Horizon Manipulations
with Large Language Models |
|
Category-Level Multi-Part Multi-Joint 3D Shape Assembly |
|
Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact |
|
GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects |
|
Diff-LfD: Contact-aware Model-based Learning from Visual
Demonstration for Robotic Manipulation via Differentiable Physics-based
Simulation and Rendering |
|
ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment |
|
DexRepNet: Learning Dexterous Robotic Grasping Network with
Geometric and Spatial Hand-Object Representations |
|
DiffClothAI: Differentiable Cloth Simulation with Intersection-free
Frictional Contact and Differentiable Two-Way Coupling with Articulated Rigid Bodies |
|
SAM-RL: Sensing-Aware Model-based Reinforcement Learning via Differentiable Physics-based Simulation and Rendering |
|
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning |
|
RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment |
|
Learning to Regrasp by Learning to Place |
|
GRAC: Self-Guided and Self-Regularized Actor-Critic |
|
OmniHang: Learning to Hang Arbitrary Objects Using Contact Point Correspondences and Neural Collision Estimation |
|
Generative 3D Part Assembly via Dynamic Graph Learning |
|
Concept2Robot: Learning Manipulation Concepts from Instructions and Human Demonstrations |
|
Learning 3D Part Assembly from a Single Image |
|
Design and Control of Roller Grasper V2 for In-Hand Manipulation |
|
Learning to Scaffold the Development of Robotic Manipulation Skills |
|
UniGrasp: Learning a Unified Model to Grasp with Multifingered Robotic Hands |
|
Motion-based Object Segmentation
based on Dense RGB-D Scene Flow |
|
Cross-modal Attribute Transfer for Rescaling 3D Models |
Teaching Experiences
- Teaching Assistant. Spring 2020-21: Convolutional Neural Networks for Visual Recognition (CS231N)
- Teaching Assistant. Winter 2017-18: Introduction to Robotics (CS223A)
- Teaching Assistant. Spring 2016-17: Machine Learning for 3D Data (CS468)
Professional Activities
-
Conference Reviewer:
- IEEE International Conference on Robotics and Automation (ICRA), 2020/19/18
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020/19/18
- Proceedings of Robotics: Science and Systems (RSS), 2019
- International Symposium on Robotics Research (ISRR), 2019
- Conference on Robot Learning (CoRL)
- International Conference on Machine Learning (ICML)
- International Conference on Learning Representations (ICLR)
-
Journal Reviewer:
- IEEE Robotics and Automation Letters (RA-L) 2020/19/18
- IEEE Transactions on Robotics (T-RO)
- IEEE Transactions on Cognitive and Developmental Systems (TCDS)