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<!DOCTYPE html>
<html>
<head>
<meta charset="UTF-8" />
<link href="https://fonts.googleapis.com/css2?family=Source+Sans+Pro:wght@200;300;400;600;700;900&display=swap"
rel="stylesheet">
<link rel="stylesheet" type="text/css" href="assets/css/style.css" />
<title> Cheng Chi </title>
</head>
<body>
<div style="width:1000px;margin: 0px auto;">
<header id="header" width="400px" style="display:flex;justify-content: space-around;">
<a href="#profile-intro">Home</a>
<a href="#updates">Updates</a>
<a href="#research">Research</a>
<!-- <a href="#projects">Projects</a> -->
</header>
<div id="profile">
<div id="profile-pic">
<img src="assets/images/profile.jpg" />
<p style="text-align:left;margin-top:-15px;">Picture taken by <a
href="http://www.columbia.edu/~hqh2101/">Huy Ha</a></p>
</div>
<div id="profile-intro">
<div id="profile-name">Cheng Chi 迟宬</div>
<div id="profile-email">chchi at stanford dot edu</div>
<p>
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.
</p>
<p>
I'm fortunate to be advised by Professor <a href="https://shurans.github.io/">Shuran Song</a>.
My research will focus on robotic manipulation and perception.
</p>
<p>
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.
</p>
<div>
<a href="assets/files/cv.pdf">
CV
</a>
/
<a href="https://twitter.com/chichengcc">
Twitter
</a>
/
<a href="https://github.com/cheng-chi">
Github
</a>
</a>
</div>
</div>
<div style="clear: both;"></div>
</div>
<div class="section" id="updates">
<h1>Updates</h1>
<ul>
<li> <b>July 2024</b> <a href="https://umi-gripper.github.io/">UMI</a> has been selected as <a href="https://roboticsconference.org/2024/program/awards">Best Systems Paper Finalist</a> at RSS 2024!
<li> <b>May 2024</b> Two papers accepted to RSS 2024
<li> <b>Apr 2023</b> Two papers accepted to RSS 2023
<li> <b>Dec 2022</b> Got into <a href="https://blogs.nvidia.com/blog/2022/12/14/nvidia-awards-research-fellowships-2022/">NVIDIA Graduate Fellowship</a> Finalist.
<li> <b>Jun 2022</b> <a href="https://irp.cs.columbia.edu/">Iterative Residual Policy</a> won the <a href="https://roboticsconference.org/2022/program/awards">Best Paper Award</a> at RSS 2022!
<li> <b>May 2022</b> <a href="https://irp.cs.columbia.edu/">Iterative Residual Policy</a> has been selected as <a href="https://roboticsconference.org/2022/program/awards">Best Student Paper Finalist</a> at RSS 2022!
<li> <b>May 2022</b> <a href="https://dextairity.cs.columbia.edu/">DextAIRity</a> has been selected as <a href="https://roboticsconference.org/2022/program/awards">Best Systems Paper Finalist</a> at RSS 2022!
<li> <b>May 2022</b> Two papers accepted to RSS 2022
<li> <b>Jul 2021</b> <a href="https://garmentnets.cs.columbia.edu/">GarmentNets</a> has been accpeted to ICCV 2021
<li> <b>Jan 2021</b> I started my PhD at Columbia University, advised by Prof. <a href="https://shurans.github.io/">Shuran Song</a>
<li> <b>Jan 2020</b> I started working for <a href="https://www.nuro.ai/">Nuro</a>'s Mapping and Localization Team
</ul>
<p></p>
<div style="clear: both;"></div>
</div>
<div class="divider"></div>
<div style="display:flex;flex-direction: column;" id="research">
<h1>Research</h1>
<div>
<a href="https://umi-gripper.github.io/" style="height: 14em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/umi_thumbnail.mp4" type="video/mp4">
</video>
</a>
<a href="https://umi-gripper.github.io/" class="research-proj-title">
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
</a>
<p>
<b>Cheng Chi</b>*,
<a style="color:#000;" href="https://zhenjiaxu.com/">Zhenjia Xu</a>*,
<a style="color:#000;" href="https://chuerpan.com/">Chuer Pan</a>,
<a style="color:#000;" href="https://www.eacousineau.com/">Eric Cousineau</a>,
<a style="color:#000;" href="http://www.benburchfiel.com/">Ben Burchfiel</a>,
<a style="color:#000;" href="https://www.cs.cmu.edu/~sfeng/">Siyuan Feng</a>,
<br>
<a style="color:#000;" href="https://groups.csail.mit.edu/locomotion/russt.html/">Russ Tedrake</a>,
<a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>
<br>Robotics: Science and Systems (RSS) 2024<br>
<strong>Best Systems Paper Finalist</strong> •
<a href="https://umi-gripper.github.io/"">Website</a> •
<a href="https://arxiv.org/abs/2402.10329">ArXiv</a> •
<a href="https://x.com/chichengcc/status/1758539728444629158">Twitter</a>
<!-- • -->
<!-- <a href="https://youtu.be/7h3SZ3La-oA">Video</a> -->
</p>
</div>
<div>
<a href="https://robotics-transformer-x.github.io/" style="height: 14em;" class="research-thumb">
<img width="320" src="assets/images/RT-x.png" alt="">
</a>
<a href="https://robotics-transformer-x.github.io/" class="research-proj-title">
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
</a>
<p>
<a style="color:#000;" >Abhishek Padalkar et al</a>
<br>International Conference on Robotics and Automation (ICRA) 2024<br>
<strong>Best Paper Award</strong> •
<a href="https://robotics-transformer-x.github.io/"">Website</a> •
<a href="https://arxiv.org/pdf/2310.08864.pdf">ArXiv</a>
<!-- • -->
<!-- <a href="https://youtu.be/7h3SZ3La-oA">Video</a> -->
</p>
</div>
<div>
<a href="https://diffusion-policy.cs.columbia.edu/" style="height: 14em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/diffusion_policy_thumbnail.mp4" type="video/mp4">
</video>
</a>
<a href="https://diffusion-policy.cs.columbia.edu/" class="research-proj-title">
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
</a>
<p>
<b>Cheng Chi</b>,
<a style="color:#000;" href="https://www.cs.cmu.edu/~sfeng/">Siyuan Feng</a>,
<a style="color:#000;" href="https://yilundu.github.io/">Yilun Du</a>,
<a style="color:#000;" href="https://zhenjiaxu.com/">Zhenjia Xu</a>,
<a style="color:#000;" href="https://www.eacousineau.com/">Eric Cousineau</a>,
<a style="color:#000;" href="http://www.benburchfiel.com/">Ben Burchfiel</a>,
<a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>
<br>Robotics: Science and Systems (RSS) 2023<br>
<a href="https://diffusion-policy.cs.columbia.edu/">Website</a> •
<a href="https://arxiv.org/abs/2303.04137">ArXiv</a> •
<a href="https://x.com/chichengcc/status/1633339455250526213">Twitter</a>
<!-- • -->
<!-- <a href="https://youtu.be/7h3SZ3La-oA">Video</a> -->
</p>
</div>
<div>
<a href="https://xskillcorl.github.io/" style="height: 14em;" class="research-thumb">
<img width="320" src="assets/images/Xskill.png" alt="">
</a>
<a href="https://xskillcorl.github.io/" class="research-proj-title">
XSkill: Cross Embodiment Skill Discovery
</a>
<p>
<a style="color:#000;" href="https://mengdaxu.github.io/">Mengda Xu</a>,
<a style="color:#000;" href="https://zhenjiaxu.com/">Zhenjia Xu</a>,
<b>Cheng Chi</b>,
<a style="color:#000;" href="https://www.cs.cmu.edu/~mmv/">Manuela Veloso</a>,
<a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>
<br>Conference on Robot Learning (CoRL) 2023<br>
<a href="https://xskillcorl.github.io/"">Website</a> •
<a href="https://arxiv.org/abs/2307.09955">ArXiv</a>
<!-- • -->
<!-- <a href="https://youtu.be/7h3SZ3La-oA">Video</a> -->
</p>
</div>
<div>
<a href="https://roboninja.cs.columbia.edu/" style="height: 12em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/robo_ninjia.mp4" type="video/mp4">
</video>
</a>
<a href="https://roboninja.cs.columbia.edu/" class="research-proj-title">
RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects
</a>
<p>
<a style="color:#000;" href="https://zhenjiaxu.com/">Zhenjia Xu</a>,
<a style="color:#000;" href="https://scholar.google.com.sg/citations?user=Kbi2t9sAAAAJ&hl=en">Zhou Xian</a>,
<a style="color:#000;" href="https://xingyu-lin.github.io/">Xingyu Lin</a>,
<b>Cheng Chi</b>,
<a style="color:#000;" href="https://sites.google.com/view/zhiao-huang">Zhiao Huang</a>,
<a style="color:#000;" href="https://people.csail.mit.edu/ganchuang/">Chuang Gan</a>,
<a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>
<br>Robotics: Science and Systems (RSS) 2023<br>
<a href="https://roboninja.cs.columbia.edu/">Website</a> •
<a href="https://arxiv.org/abs/2302.11553">ArXiv</a> •
<a href="https://youtu.be/SyEAP_jlgSQ">Video</a>
</p>
</div>
<div>
<a href="https://clothfunnels.cs.columbia.edu/" style="height: 14em;" class="research-thumb">
<img src="assets/images/funnel.png"
style=" margin-bottom:0px;"
alt="">
</a>
<a href="https://clothfunnels.cs.columbia.edu/" class="research-proj-title">
Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation
</a>
<p>
<a style="color:#000;" href="https://alpercanberk.github.io/">Alper Canberk</a>,
<b>Cheng Chi</b>,
<a style="color:#000;" href="http://www.benburchfiel.com/">Huy Ha</a>,
<a style="color:#000;" href="http://www.benburchfiel.com/">Ben Burchfiel</a>,
<a style="color:#000;" href="https://www.eacousineau.com/">Eric Cousineau</a>,
<a style="color:#000;" href="https://www.cs.cmu.edu/~sfeng/">Siyuan Feng</a>,
<a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>
<br>International Conference on Robotics and Automation (ICRA) 2023<br>
<a href="https://clothfunnels.cs.columbia.edu/">Website</a> •
<a href="https://arxiv.org/abs/2210.09347">ArXiv</a> •
<a href="https://youtu.be/TkUn0b7mbj0">Video</a>
</p>
</div>
<div>
<a href="https://irp.cs.columbia.edu/" style="height: 12em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/irp_gif_short.mp4" type="video/mp4">
</video>
</a>
<a href="https://irp.cs.columbia.edu/" class="research-proj-title">
Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objects
</a>
<p>
<b>Cheng Chi</b>,
<a style="color:#000;" href="http://www.benburchfiel.com/">Benjamin Burchfiel</a>,
<a style="color:#000;" href="https://www.eacousineau.com/">Eric Cousineau</a>,
<a style="color:#000;" href="https://www.cs.cmu.edu/~sfeng/">Siyuan Feng</a>,
<a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>,
<br>Robotics: Science and Systems (RSS) 2022<br>
<strong>Best Paper Award</strong> •
<strong>Best Student Paper Finalist</strong> •
<a href="https://irp.cs.columbia.edu/">Website</a> •
<a href="https://arxiv.org/abs/2203.00663">ArXiv</a> •
<a href="https://youtu.be/7h3SZ3La-oA">Video</a>
</p>
</div>
<div>
<a href="https://dextairity.cs.columbia.edu/" style="height: 14em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/dextairty_thumbnail.mp4" type="video/mp4">
</video>
</a>
<a href="https://dextairity.cs.columbia.edu/" class="research-proj-title">
DextAIRity: Deformable Manipulation Can be a Breeze
</a>
<p>
<a style="color:#000;" href="https://www.zhenjiaxu.com">Zhenjia Xu</a>,
<b>Cheng Chi</b>,
<a style="color:#000;" href="http://www.benburchfiel.com/">Benjamin Burchfiel</a>,
<a style="color:#000;" href="https://www.eacousineau.com/">Eric Cousineau</a>,
<a style="color:#000;" href="https://www.cs.cmu.edu/~sfeng/">Siyuan Feng</a>,
<a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>,
<br>Robotics: Science and Systems (RSS) 2022<br>
<strong>Best Systems Paper Finalist</strong> •
<a href="https://dextairity.cs.columbia.edu/">Website</a> •
<a href="https://arxiv.org/abs/2203.01197">ArXiv</a> •
<a href="https://youtu.be/_B0TpAa5tVo">Video</a>
</p>
</div>
<div>
<a href="https://garmentnets.cs.columbia.edu/" style="height: 12em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/garment-nets.mp4" type="video/mp4">
</video>
</a>
<a href="https://garmentnets.cs.columbia.edu/" class="research-proj-title">
GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion
</a>
<p>
<b>Cheng Chi</b>, <a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>
<br>The IEEE International Conference on Computer Vision (ICCV) 2021<br>
<a href="https://garmentnets.cs.columbia.edu/">Website</a> •
<a href="https://arxiv.org/abs/2104.05177">ArXiv</a> •
<a href="https://www.youtube.com/watch?v=agZ8bzP6Vig">Video</a>
</p>
</div>
<div>
<a class="research-thumb">
<img src="assets/images/cpcpd_teaser.png" alt="">
</a>
<a class="research-proj-title">
Occlusion-robust Deformable Object Tracking without Physics Simulation
</a>
<p>
<b>Cheng Chi</b>, <a style="color:#000;"
href="https://web.eecs.umich.edu/~dmitryb/">Dmitry Berenson</a>
<br>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019<br>
<a href="https://arxiv.org/abs/2101.00733">ArXiv</a> •
<a href="https://github.com/UM-ARM-Lab/cdcpd">Github</a> •
<a href="https://www.youtube.com/watch?v=NehFOkpCEHg">Video</a>
</p>
</div>
<!-- <div>
<p>* indicates equal contribution</p>
</div> -->
<div style="clear: both;"></div>
</div>
<!-- <div class="divider"></div>
<div style="display:flex;flex-direction: column;">
<h1>Projects</h1>
<div>
<a href="soft-creatures/index.html" class="research-thumb"><img
src="soft-creatures/gifs/elizabeth-hickey-small.gif" alt=""></a>
<a href="soft-creatures/index.html" class="research-proj-title">Coevolution of Morphology and Policy
Implicit Neural Functions</a>
<p>
<b>Huy Ha</b><br>
<a href="https://github.com/huy-ha/coevolving-neural-networks">Github</a>,
<a href="soft-creatures/index.html">Website</a>
</p>
</div>
<div style="clear: both;"></div>
</div> -->
</div>
<!-- <script src="js/pixi.min.js"></script> -->
<!-- <script src="js/profile-pic.js"></script> -->
</body>
</html>