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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 fourth-year PhD student at Columbia University, advised by Shuran Song. I'm also a member of the Columbia Artificial Intelligence and Robotics (CAIR) lab. 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)
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)