Publications

  • Changkyu Song and Abdeslam Boularias

Probabilistic Mechanical Models for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning

International Journal of Robotics Research (IJRR) (under review)


  • Juntao Tan, Changkyu Song and Abdeslam Boularias

A Self-supervised Learning System for Object Detection in Videos Using Random Walks on Graphs

IEEE International Conference on Robotics and Automation (ICRA 2021), May 30 - June 5, 2021, Xi'an, China [PDF]


  • Changkyu Song and Abdeslam Boularias,

A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties,

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Oct. 25-29th, 2020, Las Vegas, Nevada, USA [PDF] [Video] [Project Page]


  • Changkyu Song and Abdeslam Boularias,

Learning to Slide Unknown Objects with Differentiable Physics Simulations,

Robotics: Science and Systems (R:SS), July 14-16th, 2020, Oregon State University at Corvallis, Oregon, USA. [PDF] [Video] [Project Page]


  • Changkyu Song and Abdeslam Boularias,

Identifying Mechanical Models of Unknown Objects with Differentiable Physics Simulations,

Learning for DynamIcs & Control (L4DC), June 10-11th, 2020, University of California, Berkeley, CA, USA. [PDF] [Poster] [Video] [Project Page]


  • Changkyu Song and Abdeslam Boularias,

Object Rearrangement with Nested Nonprehensile Manipulation Actions,

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Nov. 4-8th, 2019, Macau, China. [PDF] [Video] [Project Page]


  • Changkyu Song and Abdeslam Boularias,

Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning,

IEEE Robotics and Automation Letters (RA-L 2018) and presented in IEEE International Conference on Robotics and Automation (ICRA 2019), May 20-24th, 2019, Montreal, Canada. [PDF] [Poster] [Video] [Webpage] [Article in Tech Xplore] [Project Page]


  • Rahul Shome, Wei N. Tang, Changkyu Song, Chaitanya Mitash, Chris Kourtev, Jingjin Yu, Abdeslam Boularias, and Kostas E. Bekris

Towards Robust Product Packing with a Minimalistic End-Effector,

IEEE International Conference on Robotics and Automation (ICRA 2019), May 20-24th, 2019, Montreal, Canada. Finalist for Best Paper in Automation [PDF] [Video] [Webpage] [Article in Tech Xplore] [Project Page]


  • Changkyu Song, Sejong Yoon and Vladimir Pavlovic,

Fast ADMM Algorithm for Distributed Optimization with Adaptive Penalty,

The 30th AAAI Conference on Artificial Intelligence (AAAI 2016), Feb. 12–17th, 2016, Phoenix, Arizona, USA, 2016. [PDF] [Slide] [Project Page]


  • Yu Xiang*, Changkyu Song*, Roozbeh Mottaghi, and Silvio Savarese (*equal contribution),

Monocular Multiview Object Tracking with 3D Aspect Parts,

in European Conference on Computer Vision 2014 (ECCV 2014), Sept. 6-12th, 2014, Zürich, Switzerland. [PDF] [Video] [Project Page]


  • Changkyu Song, Jeany Son, Suha Kwak, and Bohyung Han,

Dynamic Resource Allocation by Ranking SVM for Particle Filter Tracking,

in British Machine Vision Conference 2011 (BMVC 2011), Aug. 29th - Sept. 2nd, 2011, University of Dundee, Dundee, UK. [PDF] [Poster] [Project Page]