@article{policyasdatalearninggeneralizablehoidiff,
  title = {Policy-as-Data: Learning Generalizable HOI Diffusion Models from Simulated Physics},
  author = {Shujia Li and Jianshu Hu and Haiyu Zhang and Yunpeng Jiang and Haoyuan Jin and Xinyuan Chen and Yaohui Wang and Yutong Ban},
  year = {2026},
  eprint = {2606.22806},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.22806},
}