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