Shiyang Lu (卢施阳)

I'm a final year Ph.D. candidate in the Computer Science Department at Rutgers University. I'm primarily advised by Prof. Kostas Bekris in the CS Robotics lab. I also work closely with Prof. Abdeslam Boularias. My research interest lies in 3D computer vision (segmentation, pose estimation, 3D reconstruction, etc.) and its applications in robotics, such as robot manipulation.

Previously, I earned a M.S. degree in Robotics from the University of Michigan - Ann Arbor, where I worked in the Lab for Progress directed by Prof. Chad Jenkins. I obtained my Bachelor's degree in Naval Architecture and Ocean Engineering from Shanghai Jiao Tong University.

Actively looking for jobs related to computer vision / robot perception.
Expected graduation date: Spring 2024.

Email

shiyang.lu at rutgers dot edu

My Links

Selected Publications [Google Scholar]

OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data

Shiyang Lu, Haonan Chang, Eric Jing, Yu Wu, Abdeslam Boularias, Kostas E. Bekris
[Full Paper][Code] Conference on Robot Learning (CoRL), 2023
[Extended Abstract] ICCV Workshop on Open-Vocabulary 3D Scene Understanding (ICCV-W), 2023

Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs

Haonan Chang, Kowndinya Boyalakuntla, Shiyang Lu, Siwei Cai, Eric Jing, Shreesh Keskar, Shijie Geng, Adeeb Abbas, Lifeng Zhou, Kostas Bekris, Abdeslam Boularias
[Paper][Website][Code] Conference on Robot Learning (CoRL), 2023

Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos

Shiyang Lu, Yunfu Deng, Abdeslam Boularias, Kostas E. Bekris
IEEE International Conference on Robotics and Automation (ICRA), 2023
[paper] [dataset]

ARMBench: An Object-centric Benchmark Dataset for Robotic Manipulation

Chaitanya Mitash, Fan Wang, Shiyang Lu, Vikedo Terhuja, Tyler Garaas, Felipe Polido, Manikantan Nambi
IEEE International Conference on Robotics and Automation (ICRA), 2023
[paper][website]

Real2Sim2Real Transfer for Control of Cable-driven Robots via a Differentiable Physics Engine

Kun Wang, William R. Johnson III, Shiyang Lu, Xiaonan Huang, Joran Booth, Rebecca Kramer-Bottiglio, Mridul Aanjaneya, Kostas Bekris
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
[paper][website]

6N-DoF Pose Tracking for Tensegrity Robots

Shiyang Lu, William R Johnson III, Kun Wang, Xiaonan Huang, Joran Booth, Rebecca Kramer-Bottiglio, Kostas E. Bekris
International Symposium on Robotics Research (ISRR), 2022
[paper][website][code]

Online Object Model Reconstruction and Reuse for Lifelong Improvement of Robot Manipulation

Shiyang Lu, Rui Wang, Yinglong Miao, Chaitanya Mitash, Kostas E. Bekris
IEEE International Conference on Robotics and Automation (ICRA), 2022
Outstanding Manipulation Paper Finalist
[paper][video][code]

Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses

Rui Wang, Chaitanya Mitash, Shiyang Lu, Daniel Boehm, Kostas E Bekris
IEEE/RSJ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
[paper]

Efficient Nonparametric Belief Propagation for Pose Estimation and Manipulation of Articulated Objects

Karthik Desingh, Shiyang Lu, Anthony Opipari, Odest Chadwicke Jenkins
Science Robotics. 22 May 2019: Vol. 4, Issue 30
[paper][video][media converage]

Factored Pose Estimation of Articulated Objects using Efficient Nonparametric Belief Propagation

Karthik Desingh, Shiyang Lu, Anthony Opipari, Odest Chadwicke Jenkins
IEEE International Conference on Robotics and Automation (ICRA), 2019
[paper][video]