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.

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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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