Haoyang Du

Haoyang Du, Yinghan Xu, John Dingliana et al.

The capacity to create realistic virtual humans has progressed significantly, and such characters can be found in many applications across entertainment, education and health. As an essential element of interactive virtual humans, speech-driven 3D gesture generation still depends heavily on perceptual evaluation, yet studies often vary avatar appearance and facial presentation when judging the generated motions. Prior work suggests these visual choices can bias motion judgments, but controlled evidence remains limited. We address this gap with controlled evaluations of co-speech gestures across motion sources, spanning seven representative avatar renderings used in contemporary research and application pipelines. Our results show that avatar and face presentation systematically shift perceptual judgments, and we provide recommendations for benchmarking gesture synthesis as well as for deploying virtual humans in human-facing applications.

Haoyuan Deng, Yuanjiang Xue, Haoyang Du et al.

Human-in-the-loop guidance has emerged as an effective approach for enabling faster convergence in online reinforcement learning (RL) of complex real-world manipulation tasks. However, existing human-in-the-loop RL (HiL-RL) frameworks often suffer from low sample efficiency, requiring substantial human interventions to achieve convergence and thereby leading to high labor costs. To address this, we propose a sample-efficient real-world human-in-the-loop RL framework named \method, which requires fewer human intervention by actively selecting informative samples. Specifically, stable reduction of policy entropy enables improved trade-off between exploration and exploitation with higher sample efficiency. We first build influence functions of different samples on the policy entropy, which is efficiently estimated by the covariance of action probabilities and soft advantages of policies. Then we select samples with moderate values of influence functions, where shortcut samples that induce sharp entropy drops and noisy samples with negligible effect are pruned. Extensive experiments on four real-world manipulation tasks demonstrate that \method achieves a 42.1\% higher success rate while requiring 10.1\% fewer human interventions compared to the state-of-the-art HiL-RL method, validating its effectiveness. The project page providing code, videos, and mathematical formulations can be found at https://e2hil.github.io/.