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Zhenjia Xu

PhD Student
Computer Science Department
Columbia University
Email: xuzhenjia [at] cs (dot) columbia (dot) edu
Google Scholar / GitHub / LinkedIn

I am a fifth-year PhD student at Columbia University, advised by Shuran Song. I'm also a member of the Robotics & Embodied Artificial Intelligence Lab (REAL) @ Stanford. I'm broadly interested in robotics and computer vision.

Before coming to Columbia, I received my B.Eng. in Computer Science from Shanghai Jiao Tong University. During my undergrad, I was fortunate to work with Jiajun Wu and Josh Tenenbaum.

Publications

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)
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song
Robotics: Science and Systems (RSS 2023)
Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners
Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar
Conference on Robot Learning (CoRL 2023)
Best Student Paper
XSkill: Cross Embodiment Skill Discovery
Mengda Xu, Zhenjia Xu, Cheng Chi, Shuran Song
Conference on Robot Learning (CoRL 2023)
FluidLab: A Differentiable Environment for Benchmarking Complex Fluid Manipulation
Zhou Xian, Bo Zhu, Zhenjia Xu, Hsiao-Yu Tung, Antonio Torralba, Katerina Fragkiadaki, Chuang Gan
International Conference on Learning Representations (ICLR 2023)
Spotlight Presentation
BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment
Zeyi Liu, Zhenjia Xu, Shuran Song
Conference on Robot Learning (CoRL 2022)
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 System Paper Finalist
UMPNet: Universal Manipulation Policy Network for Articulated Objects
Zhenjia Xu, Zhanpeng He, Shuran Song
Robotics and Automation Letters (RA-L) / ICRA 2022
AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy
Zhenjia Xu, Beichun Qi, Shubham Agrawal, Shuran Song
International Conference on Robotics and Automation (ICRA 2021)
Learning 3D Dynamic Scene Representations for Robot Manipulation
Zhenjia Xu*, Zhanpeng He*, Jiajun Wu, Shuran Song
Conference on Robot Learning (CoRL 2020)
DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions
Zhenjia Xu, Jiajun Wu, Andy Zeng, Josh Tenenbaum, Shuran Song
Robotics: Science and Systems (RSS 2019)
Unsupervised Discovery of Parts, Structure, and Dynamics
Zhenjia Xu*, Zhijian Liu*, Chen Sun, Kevin Murphy, William Freeman, Josh Tenenbaum, Jiajun Wu
International Conference on Learning Representations (ICLR 2019)