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 / 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 arXiv 2023, preprint [Paper] [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 [Paper] 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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