A framework called Policy-as-Data generates task-oriented synthetic HOI data via RL policies in physics simulators, retargets it, and trains diffusion models that generalize to unseen objects and long horizons.
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Policy-as-Data: Learning Generalizable HOI Diffusion Models from Simulated Physics
A framework called Policy-as-Data generates task-oriented synthetic HOI data via RL policies in physics simulators, retargets it, and trains diffusion models that generalize to unseen objects and long horizons.