Machine Learning, Visual Computing, and Robotics

I am a Researcher and Software Engineer in the Google AI (Robotics at Google) team. Prior to joining Google, I was a Visiting Assistant Professor in the Geometry Lab of the Computer Science Department at Stanford University, supported by the MPC-VCC and the SAIL-Toyota Center for AI Research. I received my PhD from the University of Konstanz, Germany. My research interests are in Machine Learning, Visual Computing, and Robotics. Specifically, I am working on techniques for learning representations of objects, scenes, and tasks, where the focus is on enabling more advanced behavior of autonomous systems. Also, I am interested in developing efficient geometric representations that allow us to simulate and model natural phenomena and scenes. In the past I have worked on topics such as understanding physical interactions, cognitive planning, robotic manipulation, learning from demonstration, Sim2Real, video prediction, and simulating natural phenomena.


T. Hädrich, M. Makowski, W. Pałubicki, D. T. Banuti, S. Pirk, D. L. Michels, Stormscapes: Simulating Cloud Dynamics in the Now, ACM Transactions on Graphics (SIGGRAPH Asia), 2020
[Website], [Preprint], [Video], [Talk], [Technical Papers Trailer]
S. Pirk, K. Hausman, A. Toshev, M. Khansari, Modeling Long-horizon Tasks as Sequential Interaction Landscapes, Conference on Robotic Learning (CoRL), 2020
[Website], [ArXiv], [Video]
T. Niese, S. Pirk, M. Albrecht, B. Benes, O. Deussen, Procedural Urban Forestry, 2020
J. Klein, S. Pirk, D. L. Michels, Domain Adaptation with Morphologic Segmentation, 2020
[Website], [ArXiv]
H. Shao, T. Kugelstadt, W. Pałubicki, J. Bender, S. Pirk, D. L. Michels, Accurately Solving Physical Systems with Graph Learning, 2020
[Website], [Preprint], [ArXiv], [Video]
Y. Lu, S. Pirk, J. Dlabal, A. Brohan, A. Pasad, Z. Chen, V. Casser, A. Angelova, A. Gordon, Taskology: Utilizing Task Relations at Scale, 2020
T. Hädrich, J. Scheffczyk, W. Pałubicki, S. Pirk, D. L. Michels, Interactive Wood Fracture,
Eurographics / ACM SIGGRAPH Symposium on Computer Animation - Posters, 2020
[Website], [Paper], [Video]
V. Krs, T. Hädrich, D. L. Michels, O.Deussen, S.Pirk, B. Benes, Wind Erosion: Shape Modifications by Interactive Particle-based Erosion and Deposition, Eurographics / ACM SIGGRAPH Symposium on Computer Animation - Posters, 2020
[Website], [Paper], [Video]
S. Pirk, M. Khansari, Y. Bai, C. Lynch, P. Sermanet, Online Learning of Object Representations by Appearance Space Feature Alignment, IEEE International Conference on Robotics and Automation, 2020
[Preprint], [Video], [Talk]
S. Pirk, M. Khansari, Y. Bai, C. Lynch, P. Sermanet, Online Object Representations with Contrastive Learning, CVPR Workshop: Learning from Unlabeled Videos, 2019
[Website], [Poster], [ArXiv]
X. Yan, M. Khansari, J. Hsu, Y. Gong, Y. Bai, S. Pirk, H. Lee, Data-Efficient Learning for Sim-to-Real Robotic Grasping using Deep Point Cloud Prediction Networks, 2019
[ArXiv], [Website]
M. Makowski, T. Hädrich, J. Scheffczyk, D. L. Michels, S. Pirk, W. Pałubicki, Synthetic Silviculture: Multi-scale Modeling of Plant Ecosystems, ACM Transactions on Graphics (Proceedings of SIGGRAPH), 2019
[Website], [Preprint], [Video], [Technical Papers Trailer]
H. Wang, S. Pirk, E. Yumer, V. G. Kim, O. Senner, S. Sridhar, L. J. Guibas, Learning a Generative Model for Multi-Step Human-Object Interactions from Videos, Computer Graphics Forum (Proceedings of Eurographics), 2019, Best Paper Honorable Mention
[Website], [Preprint], [Video], [Stanford AI Blog]
V. Casser, S. Pirk, R. Mahjourian, A. Angelova, Unsupervised Monocular Depth and Ego-motion Learning with Structure and Semantics, CVPR Workshop on Visual Odometry & Computer Vision Applications Based on Location Clues (VOCVALC), 2019
[Website], [ArXiv], [Code]
V. Casser, S. Pirk, R. Mahjourian, A. Angelova, Depth Prediction without the Sensors: Leveraging Structure for Unsupervised Learning from Monocular Videos, Thirty-Third AAAI Conference on Artificial Intelligence (AAAI'19), 2019
[Website], [ArXiv], [Code]
R. Ma, A. Gadi Patil, M. Fisher, M. Li, S. Pirk, B.-S. Hua, S.-K. Yeung, X. Tong, L. Guibas, H. Zhang, Language-Driven Synthesis of 3D Scenes from Scene Databases, ACM Transactions on Graphics (Proceedings of SIGGRAPH Asia), 2018
[Website], [Preprint], [Video]
S. Vora, R. Mahjourian, S. Pirk, A. Angelova, Future Semantic Segmentation Using 3D Structure, ECCV 3D Reconstruction meets Semantics Workshop, 2018
V. Ganapathi-Subramanian, O. Diamanti, S. Pirk, C. Tang, M. Niessner, L. J. Guibas, Parsing Geometry Using Structure-Aware Shape Templates, International Conference on 3D Vision, 2018
[Preprint], [ArXiv], [Video]
J. Kratt, T. Niese, R. Hu, H. Huang, S. Pirk, A. Sharf, D. Cohen-Or, O. Deussen, Sketching In Gestalt Space: Interactive Shape Abstraction Through Perceptual Reasoning, Computer Graphics Forum, 2018
[Website], [Preprint], [Video], [Bibtex]
S. Pirk, M. Jarząbek, T. Hädrich, D. L. Michels, W. Palubicki, Interactive Wood Combustion for Botanical Tree Models, ACM Transactions on Graphics (Proceedings of SIGGRAPH Asia), 2017
[Website], [Preprint], [Video], [Technical Papers Trailer], [Bibtex]
S. Pirk, O. Diamanti, B. Thibert, D. Xu, L. J. Guibas, Shape-aware Spatio-temporal Descriptors for Interaction Classification, IEEE International Conference on Image Processing (ICIP), 2017
[Preprint], [Bibtex], [Video]
Y. Yoshiyasu, E. Yoshida, S. Pirk, L. J. Guibas, 3D Convolutional Neural Networks by Modal Fusion, IEEE International Conference on Image Processing (ICIP), 2017
[Preprint], [Bibtex]
S. Pirk, V. Krs, K. Hu, S. D. Rajasekaran, H. Kang, B. Benes, Y. Yoshiyasu, L. J. Guibas, Understanding and Exploiting Object Interaction Landscapes, Transactions on Graphics (TOG), 2017
[Website], [Preprint], [DOI], [ArXiv], [Video], [Bibtex]
T. Hädrich, B. Benes, O. Deussen, S. Pirk, Interactive Modeling and Authoring of Climbing Plants, Computer Graphics Forum (Proceedings of Eurographics), 2017, Best Paper Honorable Mention
[Website], [Preprint], [Video], [Media], [Bibtex]
Y. Li, S. Pirk, H. Su, C. R. Qi, L. J. Guibas, FPNN: Field Probing Neural Networks for 3D Data, Neural Information Processing Systems (NIPS), 2016
[Website], [Preprint], [ArXiv], [Code], [Bibtex]
S. Pirk, B. Benes, T. Ijiri, Y. Li, O. Deussen, B. Chen, R. Mech, Modeling Plant Life in Computer Graphics, SIGGRAPH 2016 Courses
[Website], [DOI], [Bibtex]
J. Kratt, M. Spicker, A. Guayaquil, M. Fiser, S. Pirk, O. Deussen, J. C. Hart, B. Benes, Woodification: User-Controlled Cambial Growth Modeling, Computer Graphics Forum (Proceedings of Eurographics), 2015
[Website], [Preprint], [DOI], [Video], [Bibtex]
S. Pirk, T. Niese, T. Härich, B. Benes, O. Deussen, Windy Trees: Computing Stress Response for Developmental Tree Models, ACM Transactions on Graphics (Proceedings of SIGGRAPH Asia), 2014
[Website], [Preprint], [DOI], [Video], [Bibtex]
J. Kratt, F. Eisenkeil, S. Pirk, A. Sharf, O. Deussen, Non-Realistic 3D Object Stylization, International Symposium on Computational Aesthetics in Graphics, Visualization, and Imaging, 2014
[Website], [Preprint], [DOI], [Video], [Bibtex]
O. Stava, S. Pirk, J. Kratt, B. Chen, R. Mech, O. Deussen, B. Benes, Inverse Procedural Modeling of Trees, Computer Graphics Forum, 2014 and Eurographics, 2015
[Website], [Preprint], [DOI], [Video], [Bibtex]
T. Lindemeier, S. Pirk, O. Deussen, Image Stylization with a Painting Machine Using Semantic Hints, Computers and Graphics, 2013
[Preprint], [DOI], [Bibtex]
S. Pirk, M. F. Cohen, O. Deussen, M. Uyttendaele, J. Kopf, Video Enhanced Gigapixel Panoramas Siggraph Asia 2012, Technical Brief
[Website], [Preprint], [DOI], [Video], [Bibtex]
S. Pirk, T. Niese, O. Deussen, B. Neubert, Capturing and Animating the Morphogenesis of Polygonal Tree Models, ACM Transactions on Graphics (Proceedings of Siggraph Asia), 2012
[Website], [Preprint], [DOI], [Video], [Bibtex]
O. Deussen, T. Lindemeier, S. Pirk, M. Tautzenberger, Feedback-guided Stroke Placement for a Painting Machine, Computational Aesthetics in Graphics, 2012
[Website], [Preprint], [DOI], [Video], [Bibtex]
S. Pirk, O. Stava, J. Kratt, M. Abdul-Massih, B. Neubert, R. Mech, B. Benes, O. Deussen, Plastic Trees: Interactive Self-Adapting Botanical Tree Models, ACM Transactions on Graphics (Proceedings of SIGGRAPH), 2012
[Website], [Preprint], [DOI], [Video], [Bibtex]
Y. Livny, S. Pirk, F. Yan, Z. Cheng, O. Deussen, D. Cohen-Or, B. Chen, Texture-Lobes for Tree Modeling, ACM Transactions on Graphics (Proceedings of SIGGRAPH), 2011
[Website], [Preprint], [DOI], [Video], [Bibtex]
B. Neubert, S. Pirk, O. Deussen, C. Dachsbacher, Improved Model- and View-Dependent Pruning of Large Botanical Scenes, Computer Graphics Forum, 2011 and EGSR 2011
[Website], [Preprint], [DOI], [Bibtex]

Professional Service

Associate Editor Computer Graphics Forum (2019-2022)
IEEE Computer Graphics and Applications (2020-2022)
Committee Member International Conference on Autonomous Agents and Multiagent Systems (AAMAS): 2019
Computational Visual Media Conference (CVM): 2019, 2018
Eurographics: 2020 (Short Papers), 2019 (Short Papers), 2017
Web3D Conference: 2014, 2013, 2012, 2011, 2010
Reviewer International Conference on Machine Learning (ICML): 2020
IEEE Conference on Computer Vision and Pattern Recognition (CVPR): 2020
International Conference on Representation Learning (ICLR): 2020
International Conference on 3D Vision (3DV): 2020, 2019
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): 2020, 2019
Conference on Neural Information Processing Systems (NeurIPS): 2020, 2019
ACM SIGGRAPH: 2018, 2017, 2015, 2013, 2012, 2011
ACM SIGGRAPH Asia: 2020, 2017, 2016, 2015, 2012
Transactions on Graphics (TOG): 2020, 2017, 2016, 2013
Eurographics (EG): 2020, 2018, 2017, 2015, 2014, 2013, 2011
Computer Graphics Forum (CGF): 2019, 2018, 2017, 2016, 2015, 2014
Pacific Graphics (PG): 2016, 2015, 2014, 2013
IEEE Transactions on Visualization & Computer Graphics (TVCG): 2018, 2017, 2014, 2013
Computers & Graphics: 2019, 2018, 2017, 2016, 2015, 2014, 2013, 2012


2017 AI Researcher and Software Engineer, Google AI (Robotics at Google), USA
Research on Machine Learning, Robotics, and Computer Vision.
2015 Visiting Assistant Professor at Stanford University, School of Engineering, USA
Head of the Geometric Modeling Group at the Max Planck Center for Visual Computing and Communication.
2014 Researcher and Software Engineer, Esri R&D Center Zurich, Switzerland
Research and development for large-scale geo information systems.
2013 Postdoctoral Fellowship, Visual Computing, University of Konstanz, Germany
Postdoctoral Fellow in the Lab for Visual Computing.
2013 Ph.D. of the Faculty of Computer and Information Science, University of Konstanz, Germany
Dr.rer.nat. of the Faculty of Computer and Information Science, University of Konstanz.
2012 Research visits at Shenzhen Institute of Advanced Technology (SIAT), China
Academic projects and studies toward procedural modeling and geometric representations.
2007 Research visit at the University of Canterbury, New Zeland
Academic studies toward real-time rendering and augmented reality in the Human Interface Technology Laboratory (HitLab).
2007 Dipl.-Ing. (FH), Computer Science, Germany
University of Applied Sciences Emden.