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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
Posts
publications
HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction
Computer Vision and Pattern Recognition (CVPR), 2022
Project Page | Paper | arXiv | Code | Data
The first dataset for 4D egocentric category-level human-object interaction.
Computer Vision and Pattern Recognition (CVPR), 2023
Project Page | Paper | arXiv | Code | Data
A motion synthesis method for category-level functional hand-object manipulation.
Robotics and Automation Letters (RA-L), 2023, Best Paper Finalist
Project Page | Paper | arXiv | Code | Data
An object-agnostic method to learn a universal policy for dexterous object grasping from realistic point cloud observations and proprioception.
Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensing
Robotics and Automation Letters (RA-L), 2023, with an oral presentation at ICRA 2024
This paper proposed TEG-Track, a visual-tactile in-hand object 6D pose tracking method that can generalize to new objects.
TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understanding
Computer Vision and Pattern Recognition (CVPR), 2024
Project Page | Paper | arXiv | Code | Data
A large-scale real-world bimanual hand-object manipulation dataset covering extensive tool-action-object combinations.
IEEE Transactions on Visualization and Computer Graphics (TVCG), 2024
A 4D geometry and motion reconstruction method for articulated objects.
CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangement
Computer Vision and Pattern Recognition (CVPR), 2025
Project Page | Paper | arXiv | Code | Data
A large-scale 4D human-object-human interaction dataset for collaborative object rearrangement, integrating real-world and synthetic data.
ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Grasping
Computer Vision and Pattern Recognition (CVPR), 2025, Hightlight
Project Page | Paper | arXiv
A method for generalizable hand-object manipulation video generation.
CVPR Workshop on Humanoid Agents, 2025, Spotlight
The first comprehensive benchmark for generalizable humanoid-scene interaction learning via human mimicking. Integrated a large-scale diverse human skill reference dataset with both synthetic and real-world human-scene interactions. Developed a general skill-learning paradigm and provide support for both pipeline-wise and modular evaluations.
SyncDiff: Synchronized Motion Diffusion for Multi-Body Human-Object Interaction Synthesis
International Conference on Computer Vision (ICCV), 2025
Project Page | Paper | arXiv
A motion diffusion model for synchronized multi-body human-object interaction motion synthesis with core designs of synchronization prior injection and frequency decomposition.
Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space
Robotics and Automation Letters (RA-L), 2025, with a presentation at ICRA 2026
Project Page | arXiv | Code
A large-range humanoid-reaching policy with a learned skill space encoding various real-world-ready motor skills.