| CARVIEW |
Yun Liu 刘昀
PhD candidate in IIIS, Tsinghua University.
- Beijing, China
- Tsinghua University
- Google Scholar
- Github
Publications
Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space
Zhikai Zhang* , Chao Chen* , Han Xue* , Jilong Wang , Sikai Liang , Yun Liu , Zongzhang Zhang , He Wang , Li Yi
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.
SyncDiff: Synchronized Motion Diffusion for Multi-Body Human-Object Interaction Synthesis
Wenkun He , Yun Liu , Ruitao Liu , Li Yi
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.
Yun Liu* , Bowen Yang* , Licheng Zhong* , He Wang , Li Yi
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.
ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Grasping
Youxin Pang , Ruizhi Shao , Jiajun Zhang , Hanzhang Tu , Yun Liu , Boyao Zhou , Hongwen Zhang , Yebin Liu
Computer Vision and Pattern Recognition (CVPR), 2025, Hightlight
Project Page | Paper | arXiv
A method for generalizable hand-object manipulation video generation.
CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangement
Yun Liu* , Chengwen Zhang* , Ruofan Xing , Bingda Tang , Bowen Yang , Li Yi
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.
Yahao Shi , Ye Tao , Mingjia Yang , Yun Liu , Li Yi , Bin Zhou
IEEE Transactions on Visualization and Computer Graphics (TVCG), 2024
A 4D geometry and motion reconstruction method for articulated objects.
TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understanding
Yun Liu , Haolin Yang , Xu Si , Ling Liu , Zipeng Li , Yuxiang Zhang , Yebin Liu , Li Yi
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.
Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensing
Yun Liu* , Xiaomeng Xu* , Weihang Chen , Haocheng Yuan , He Wang , Jing Xu , Rui Chen , Li Yi
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.
Weikang Wan* , Haoran Geng* , Yun Liu , Zikang Shan , Yaodong Yang , Li Yi , He Wang
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.
Juntian Zheng* , Lixing Fang* , Qingyuan Zheng* , Yun Liu , Li Yi
Computer Vision and Pattern Recognition (CVPR), 2023
Project Page | Paper | arXiv | Code | Data
A motion synthesis method for category-level functional hand-object manipulation.
HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction
Yunze Liu* , Yun Liu* , Che Jiang , Kangbo Lyu , Weikang Wan , Hao Shen , Boqiang Liang , Zhoujie Fu , He Wang , Li Yi
Computer Vision and Pattern Recognition (CVPR), 2022
Project Page | Paper | arXiv | Code | Data
The first dataset for 4D egocentric category-level human-object interaction.