11 papers
HandX: Scaling Bimanual Motion and Interaction Generation
Zimu Zhang, Yucheng Zhang, Xiyan Xu +8
Synthesizing human motion has advanced rapidly, yet realistic hand motion and bimanual interaction remain underexplored. Whole-body models often miss the fine-grained cues that dri…
Unleashing Guidance Without Classifiers for Human-Object Interaction Animation
Ziyin Wang, Sirui Xu, Chuan Guo +5
Generating realistic human-object interaction (HOI) animations remains challenging because it requires jointly modeling dynamic human actions and diverse object geometries. Prior d…
ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
Xialin He, Sirui Xu, Xinyao Li +4
Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrai…
BEAT: Visual Backdoor Attacks on VLM-based Embodied Agents via Contrastive Trigger Learning
Qiusi Zhan, Hyeonjeong Ha, Rui Yang +7
Recent advances in Vision-Language Models (VLMs) have propelled embodied agents by enabling direct perception, reasoning, and planning task-oriented actions from visual inputs. How…
InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions
Sirui Xu, Samuel Schulter, Morteza Ziyadi +4
Humans rarely plan whole-body interactions with objects at the level of explicit whole-body movements. High-level intentions, such as affordance, define the goal, while coordinated…
InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions
Sirui Xu, Hung Yu Ling, Yu-Xiong Wang +1
Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-objec…