Puhao Li @ THU

Puhao Li(李浦豪)

I am a senior undergraduate student in Dept. of Automation, Tsinghua University. I am also a research intern in General Vision Lab at BIGAI, and I am grateful to be advised by Dr. Tengyu Liu and Dr. Siyuan Huang. I obtained my pre-admission of Ph.D. student from Tsinghua University in 2023, under the supervision of Prof. Song-Chun Zhu.

My research interests lie in computer vision, generative modeling and manipulation. My long-term goal is to create an intelligent system that can naturally interact with a novel environment. Currently, I am working on scene understanding and robotic manipulation.

Email / CV / Google Scholar / Github / Twitter

Research

	Diffusion-based Generation, Optimization, and Planning in 3D Scenes Siyuan Huang, Zan Wang, Puhao Li, Baoxiong Jia, Tengyu Liu, Yixin Zhu, Wei Liang, Song-Chun Zhu CVPR 2023 [Paper] [Code] [Project Page] [Hugging Face] We introduce SceneDiffuser, a conditional generative model for 3D scene understanding. In contrast to prior work, SceneDiffuser is intrinsically scene-aware, physics-based, and goal-oriented.
	GenDexGrasp: Generalizable Dexterous Grasping Puhao Li, Tengyu Liu, Yuyang Li, Yiran Geng, Yixin Zhu, Yaodong Yang, Siyuan Huang ICRA 2023 [Paper] [Code] [Project Page] We introduce GenDexGrasp, a versatile dexterous grasping method that can generalize to out-of-domain robotic hands. In addition, we contribute MultiDex, a large-scale synthetic dexterous grasping dataset.
	DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, He Wang ICRA 2023 (Oral presentation, Outstanding manipulation paper finalist) [Paper] [Code] [Project Page] We present a large-scale dexterous grasping dataset DexGraspNet, which based on simulation. This dataset features more physical stability and higher diversity than previous datasets.

Experience

	Beijing Institute for General Artificial Intelligence(BIGAI), China 2021.09 - now Research Intern Advisor: Dr. Tengyu Liu
	Tsinghua University, China 2019.08 - now Undergraduate Student

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