publications

* indicates co-first author

  1. robovista.png
    RoboVista: Evaluating Vision Language Models for Diverse Robot Applications
    Shuangyu Xie*, Kaiyuan Chen*, Ziyang Chen, Simeon Adebola, Yixuan Huang, Zehan Ma, Tianshuang Qiu, Wentao Yuan, Dhruv Shah, Pannag R. Sanketi, and Ken Goldberg
    In Robotics: Science and Systems (RSS), 2026
    Website
  2. robosegnet.png
    Learning Multi-Task Robot Trajectory Segmentation from Visual and Kinematic Streams
    Kaiyuan Chen*, Shuangyu Xie*, Andrew Goldberg, and Ken Goldberg
    In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026
    Website
  3. robosq.png
    RoboSQ: Semantic Queries for Task-Aligned Robot Training Data
    Kaiyuan Chen*, Shuangyu Xie*, Kush Hari, Andrew Goldberg, Kavish Kondap, and Ken Goldberg
    In IEEE International Conference on Robotics and Automation (ICRA), 2026
    Website
  4. growsplat.png
    GrowSplat: Constructing Temporal Digital Twins of Plants with Gaussian Splats
    Simeon Adebola, Shuangyu Xie, Chung Min Kim, Justin Kerr, Bart M Marrewijk, Mieke Vlaardingen, Tim Daalen, EN Loo, Jose Luis Susa Rincon, Eugen Solowjow, and  others
    In 2025 IEEE 21st International Conference on Automation Science and Engineering (CASE), 2025
  5. weed_cluster.png
    Energy Efficient Planning for Repetitive Heterogeneous Tasks in Precision Agriculture
    Shuangyu Xie, Ken Goldberg, and Dezhen Song
    In IEEE International Conference on Robotics and Automation (ICRA), 2025
  6. robo2vlm.png
    Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets
    Kaiyuan Chen*, Shuangyu Xie*, Zehan Ma, and Ken Goldberg
    In Thirty-ninth Annual Conference on Neural Information Processing Systems (NeurIPS), 2025
    Spotlight
  7. botany-bot.png
    Botanybot : Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats
    Simeon Adebola, Chung Min Kim, Justin Kerr, Shuangyu Xie, Prithvi Akella, Jose Luis Susa Rincon, Eugen Solowjow, and Ken Goldberg
    In IROS, 2025
  8. lego_base.png
    Vision-based Camera/Robot Pose Estimation using Both Semantic and Geometric Features on LEGO Baseplates
    Shu-Hao Yeh, Shuangyu Xie, Wei Yan, and Dezhen Song
    IEEE International Conference on Automation Science and Engineering (CASE), 2023
  9. capm.png
    Coupled Active Perception and Manipulation Planning for a Mobile Manipulator in Precision Agriculture Applications
    Shuangyu Xie, Chengsong Hu, Di Wang, Joe Johnson,  Muthukumar Bagavathiannan, and Dezhen Song
    International Conference on Robotics and Automation (ICRA), 2024
  10. flamer_robot_platform.png
    System and Algorithm for Robotic Weed Flaming Using a Quadruped Robot and a 6-Axis Manipulator
    Di Wang, Chengsong Hu, Shuangyu Xie, Joe Johnson, Hojun Ji, Yingtao Jiang, Muthukumar Bagavathiannan, and Dezhen Song
    International Conference on Intelligent Robots and Systems (IROS), 2024
  11. Dimenet.png
    Dynamic Intrinsic Parameter Rectification Network for Cameras with Optical Image Stabilization in Desktop Augmented Reality Applications
    Shuangyu Xie, Di Wang, Shu-Hao Yeh, Wei Yan, and Dezhen Song
    IEEE International Conference on Automation Science and Engineering (CASE), 2024
  12. pretouch.png
    A Pretouch Perception Algorithm for Object Material and Structure Mapping to Assist Grasp and Manipulation Using a DMDSM Sensor
    Fengzhi Guo, Shuangyu Xie,  Di Wang,  Cheng Fang,  Jun Zou, and  Dezhen Song
    International Conference on Intelligent Robots and Systems (IROS), 2023
  13. weed_spray.png
    Algorithm and System Development for Robotic Micro-Volume Herbicide Spray Towards Precision Weed Management
    Chengsong Hu, Shuangyu Xie, Dezhen Song, J. Alex Thomasson, Robert G. Hardin IV, and Muthukumar Bagavathiannan
    IEEE Robotics and Automation Letters, 2022
  14. weed_detection.png
    Toward Robotic Weed Control: Detection of Nutsedge Weed in Bermudagrass Turf Using Inaccurate and Insufficient Training Data
    Shuangyu Xie, Chengsong Hu, Muthukumar Bagavathiannan, and Dezhen Song
    IEEE Robotics and Automation Letters, 2021