Jingyuan Liu

Jingbo Wang, Yu Rong, Jingyuan Liu et al.

The ability to synthesize long-term human motion sequences in real-world scenes can facilitate numerous applications. Previous approaches for scene-aware motion synthesis are constrained by pre-defined target objects or positions and thus limit the diversity of human-scene interactions for synthesized motions. In this paper, we focus on the problem of synthesizing diverse scene-aware human motions under the guidance of target action sequences. To achieve this, we first decompose the diversity of scene-aware human motions into three aspects, namely interaction diversity (e.g. sitting on different objects with different poses in the given scenes), path diversity (e.g. moving to the target locations following different paths), and the motion diversity (e.g. having various body movements during moving). Based on this factorized scheme, a hierarchical framework is proposed, with each sub-module responsible for modeling one aspect. We assess the effectiveness of our framework on two challenging datasets for scene-aware human motion synthesis. The experiment results show that the proposed framework remarkably outperforms previous methods in terms of diversity and naturalness.

Jinkun Cao, Jingyuan Liu, Kris Kitani et al.

Predicting and generating human hand grasp over objects is critical for animation and robotic tasks. In this work, we focus on generating both the hand and objects in a grasp by a single diffusion model. Our proposed Joint Hand-Object Diffusion (JHOD) models the hand and object in a unified latent representation. It uses the hand-object grasping data to learn to accommodate hand and object to form plausible grasps. Also, to enforce the generalizability over diverse object shapes, it leverages large-scale object datasets to learn an inclusive object latent embedding. With or without a given object as an optional condition, the diffusion model can generate grasps unconditionally or conditional to the object. Compared to the usual practice of learning object-conditioned grasp generation from only hand-object grasp data, our method benefits from more diverse object data used for training to handle grasp generation more universally. According to both qualitative and quantitative experiments, both conditional and unconditional generation of hand grasp achieves good visual plausibility and diversity. With the extra inclusiveness of object representation learned from large-scale object datasets, the proposed method generalizes well to unseen object shapes.

Brain Team, Ziyang Gong, Haoming Gu et al.

Embodied AI is moving from isolated perception or action modules toward physical agents that understand, plan under goals, act through robot bodies, monitor progress, and improve from experience. Existing systems address this loop only in parts: end-to-end policies generate actions but often lack spatial reasoning, planning, and execution assessment, while robot-agent systems orchestrate tools or specialists but do not learn a shared representation. This fragmentation limits general Physical Agentic AI. We present ACE-Brain-0.5, a unified embodied foundation model that organizes robot intelligence into five coupled functions: spatial perception, decision making, embodied interaction, self-monitoring, and self-improvement. Built on ACE-Brain-0, which established spatial intelligence as a shared scaffold across robot platforms, ACE-Brain-0.5 extends an understanding-centric model into a closed-loop foundation model. A single 8B backbone instantiates the first four functions: grounding objects and affordances, reasoning over 3D and egocentric spatial relations, decomposing instructions into subgoals, generating navigation and manipulation actions, and estimating progress for verification and recovery. To unify these capabilities without cross-task interference, we introduce SSR+, which extends Scaffold-Specialize-Reconcile with a Reactivate stage after task-vector merging. The fifth function, self-improvement, is realized by a companion framework that updates external execution state, including task schemas, spatial memory, and failure-recovery cases, from rollouts. Across fifteen benchmarks, ACE-Brain-0.5 improves over ACE-Brain-0 on 14 of 18 spatial perception and grounding benchmarks, achieves competitive navigation and manipulation performance, and provides strong progress estimation in ID and OOD settings. Together, these results mark an early step toward general Physical Agentic AI.

Zaiqiang Wu, Yechen Li, Jingyuan Liu et al.

Existing image-based virtual try-on methods are often limited to the front view and lack real-time performance. While per-garment virtual try-on methods have tackled these issues by capturing per-garment datasets and training per-garment neural networks, they still encounter practical limitations: (1) the robotic mannequin used to capture per-garment datasets is prohibitively expensive for widespread adoption and fails to accurately replicate natural human body deformation; (2) the synthesized garments often misalign with the human body. To address these challenges, we propose a low-barrier approach for collecting per-garment datasets using real human bodies, eliminating the necessity for a customized robotic mannequin. We also introduce a hybrid person representation that enhances the existing intermediate representation with a simplified DensePose map. This ensures accurate alignment of synthesized garment images with the human body and enables human-garment interaction without the need for customized wearable devices. We performed qualitative and quantitative evaluations against other state-of-the-art image-based virtual try-on methods and conducted ablation studies to demonstrate the superiority of our method regarding image quality and temporal consistency. Finally, our user study results indicated that most participants found our virtual try-on system helpful for making garment purchasing decisions.

Yingying Fan, Jingyuan Liu, Jinchi Lv et al.

We propose a new inference framework, named MOSAIC, for change-point detection in dynamic networks with the simultaneous low-rank and sparse-change structure. We establish the minimax rate of detection boundary, which relies on the sparsity of changes. We then develop an eigen-decomposition-based test with screened signals that approaches the minimax rate in theory, with only a minor logarithmic loss. For practical implementation of MOSAIC, we adjust the theoretical test by a novel residual-based technique, resulting in a pivotal statistic that converges to a standard normal distribution via the martingale central limit theorem under the null hypothesis and achieves full power under the alternative hypothesis. We also analyze the minimax rate of testing boundary for dynamic networks without the low-rank structure, which almost aligns with the results in high-dimensional mean-vector change-point inference. We showcase the effectiveness of MOSAIC and verify our theoretical results with several simulation examples and a real data application.