6 papers
Holi-Spatial 360: Generative Reconstruction from Sparse Panoramas for Spatial Rendering and Intelligence
Yuanyuan Gao, Zhirui Liu, Yuning Gong +9
Spatial intelligence requires scalable 3D environments that are both photorealistic and semantically grounded, yet existing indoor datasets are dominated by room-scale captures and…
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…
From Scene-Centric to Observer-Centric: Modeling Observer-Aware Relations for 3D Scene Graph Generation
Jingjun Sun, Chaowei Wang, Zhirui Liu +5
3D Scene Graph Generation (3DSGG) represents 3D scenes as structured object--relation--object graphs for spatial understanding. In observer-centric spatial perception, the same sce…
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…
HOID-R1: Reinforcement Learning for Open-World Human-Object Interaction Detection Reasoning with Multimodal Large Language Model
Zhenhao Zhang, Hanqing Wang, Xiangyu Zeng +10
Understanding and recognizing human-object interaction (HOI) is a pivotal application in AR/VR and robotics. Recent open-vocabulary HOI detection approaches depend exclusively on l…
Diffusion Models are Open-World Affordance Learners: Leveraging Generative Priors for 3D Affordance Learning
Hanqing Wang, Zhenhao Zhang, Kaiyang Ji +12
3D affordance grounding aims to understand how diverse objects can be manipulated, making it a cornerstone of embodied interaction. However, prior works struggle to generalize to o…