40 citations · 69 across the 17 of their papers we have counts for
21 papers
From Social Reasoning to Embodied Interaction: An Agentic Framework for Social Robots
Ziyu Cheng, Yuewen Guo, Zhirui Liu +5
Natural face-to-face human--robot interaction requires a robot to understand an evolving social situation, decide when to engage, and express its intent through coordinated physica…
Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
Zhirui Liu, Kaiyang Ji, Ke Yang +4
Enabling humanoid robots to follow free-form natural language commands is a critical step toward seamless human-robot interaction and general-purpose embodied AI. However, existing…
Diffusion Bridge or Flow Matching? A Unifying Framework and Comparative Analysis
Kaizhen Zhu, Mokai Pan, Zhechuan Yu +3
Diffusion Bridge and Flow Matching have both demonstrated compelling empirical performance in transformation between arbitrary distributions. However, there remains confusion about…
Towards Immersive Human-X Interaction: A Real-Time Framework for Physically Plausible Motion Synthesis
Kaiyang Ji, Ye Shi, Zichen Jin +5
Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate pr…
A Unified and Fast-Sampling Diffusion Bridge Framework via Stochastic Optimal Control
Mokai Pan, Kaizhen Zhu, Yuexin Ma +4
Recent advances in diffusion bridge models leverage Doob's -transform to establish fixed endpoints between distributions, demonstrating promising results in image translation an…
DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion
Yahao Fan, Tianxiang Gui, Kaiyang Ji +8
Achieving versatile humanoid locomotion with a single policy presents a critical scalability challenge. Prevailing methods often rely on distilling multiple terrain-specific teache…
UniDB: A Unified Diffusion Bridge Framework via Stochastic Optimal Control
Kaizhen Zhu, Mokai Pan, Yuexin Ma +4
Recent advances in diffusion bridge models leverage Doob's -transform to establish fixed endpoints between distributions, demonstrating promising results in image translation an…
AffordDP: Generalizable Diffusion Policy with Transferable Affordance
Shijie Wu, Yihang Zhu, Yunao Huang +5
Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance gene…
SeqAfford: Sequential 3D Affordance Reasoning via Multimodal Large Language Model
Chunlin Yu, Hanqing Wang, Ye Shi +4
3D affordance segmentation aims to link human instructions to touchable regions of 3D objects for embodied manipulations. Existing efforts typically adhere to single-object, single…
NLPrompt: Noise-Label Prompt Learning for Vision-Language Models
Bikang Pan, Qun Li, Xiaoying Tang +6
The emergence of vision-language foundation models, such as CLIP, has revolutionized image-text representation, enabling a broad range of applications via prompt learning. Despite…
SMGDiff: Soccer Motion Generation using diffusion probabilistic models
Hongdi Yang, Chengyang Li, Zhenxuan Wu +5
Soccer is a globally renowned sport with significant applications in video games and VR/AR. However, generating realistic soccer motions remains challenging due to the intricate in…
Diffusion-based Reinforcement Learning via Q-weighted Variational Policy Optimization
Shutong Ding, Ke Hu, Zhenhao Zhang +5
Diffusion models have garnered widespread attention in Reinforcement Learning (RL) for their powerful expressiveness and multimodality. It has been verified that utilizing diffusio…
Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes
Jingping Wang, Tingrui Zhang, Qixuan Zhang +5
In the field of trajectory generation for objects, ensuring continuous collision-free motion remains a huge challenge, especially for non-convex geometries and complex environments…
A Unified Diffusion Framework for Scene-aware Human Motion Estimation from Sparse Signals
Jiangnan Tang, Jingya Wang, Kaiyang Ji +3
Estimating full-body human motion via sparse tracking signals from head-mounted displays and hand controllers in 3D scenes is crucial to applications in AR/VR. One of the biggest c…
HOI-M3:Capture Multiple Humans and Objects Interaction within Contextual Environment
Juze Zhang, Jingyan Zhang, Zining Song +6
Humans naturally interact with both others and the surrounding multiple objects, engaging in various social activities. However, recent advances in modeling human-object interactio…
LetsGo: Large-Scale Garage Modeling and Rendering via LiDAR-Assisted Gaussian Primitives
Jiadi Cui, Junming Cao, Fuqiang Zhao +7
Large garages are ubiquitous yet intricate scenes that present unique challenges due to their monotonous colors, repetitive patterns, reflective surfaces, and transparent vehicle g…
THOR: Text to Human-Object Interaction Diffusion via Relation Intervention
Qianyang Wu, Ye Shi, Xiaoshui Huang +3
This paper addresses new methodologies to deal with the challenging task of generating dynamic Human-Object Interactions from textual descriptions (Text2HOI). While most existing w…
Gaze-guided Hand-Object Interaction Synthesis: Dataset and Method
Jie Tian, Ran Ji, Lingxiao Yang +6
Gaze plays a crucial role in revealing human attention and intention, particularly in hand-object interaction scenarios, where it guides and synchronizes complex tasks that require…
LiveHPS: LiDAR-based Scene-level Human Pose and Shape Estimation in Free Environment
Yiming Ren, Xiao Han, Chengfeng Zhao +4
For human-centric large-scale scenes, fine-grained modeling for 3D human global pose and shape is significant for scene understanding and can benefit many real-world applications.…
Capturing the Unseen: Vision-Free Facial Motion Capture Using Inertial Measurement Units
Youjia Wang, Yiwen Wu, Hengan Zhou +9
We present Capturing the Unseen (CAPUS), a novel facial motion capture (MoCap) technique that operates without visual signals. CAPUS leverages miniaturized Inertial Measurement Uni…
Guidance with Spherical Gaussian Constraint for Conditional Diffusion
Lingxiao Yang, Shutong Ding, Yifan Cai +3
Recent advances in diffusion models attempt to handle conditional generative tasks by utilizing a differentiable loss function for guidance without the need for additional training…