4 papers
Policy-as-Data: Learning Generalizable HOI Diffusion Models from Simulated Physics
Shujia Li, Jianshu Hu, Haiyu Zhang +5
Synthesizing realistic Human-Object Interactions (HOI) is critical for creating embodied avatars and functional virtual environments. However, current data-driven approaches primar…
DSSP: Diffusion State Space Policy with Full-History Encoding
Zhiyuan Guan, Jianshu Hu, Han Fang +5
Diffusion-based imitation learning has shown strong promise for robot manipulation. However, most existing policies condition only on the current observation or a short window of r…
Generalizable Coarse-to-Fine Robot Manipulation via Language-Aligned 3D Keypoints
Jianshu Hu, Lidi Wang, Shujia Li +4
Hierarchical coarse-to-fine policy, where a coarse branch predicts a region of interest to guide a fine-grained action predictor, has demonstrated significant potential in robotic…
GenHOI: Generalizing Text-driven 4D Human-Object Interaction Synthesis for Unseen Objects
Shujia Li, Haiyu Zhang, Xinyuan Chen +2
While diffusion models and large-scale motion datasets have advanced text-driven human motion synthesis, extending these advances to 4D human-object interaction (HOI) remains chall…