I’m going to mirror what PP’s are saying, if you don’t want to see your in-laws daily, you need to move or have them move. Honestly, unless they are undermining your parenting or doing things that are harmful to the baby, I don’t see the problem.
If you are living with them to benefit you, ie save money, help with baby, etc… then you are very limited on the boundaries you can set. Your recourse is to get your own place. If money is an issue, then you may need to get a job/second job. You will need extended childcare or your in-laws may be willing to babysit, but this will mean that they spend even more time with your baby. The bottom line is if they are providing you a place to live, even if you are paying a reduced rent, then you don’t get to tell them what to do in their home.
If they are living with you for their benefit, then you need to establish reasonable boundaries with your DH that he can communicate to his parents. It is still unreasonable to expect them to not see baby daily if you share living spaces. Your options in this situation involve them moving out.
If this is a mutually beneficial arrangement, you all need to discuss separating households. It is unreasonable to expect them to avoid the common spaces because you don’t want the baby to see them. If you need a break, you and DH can take a weekend away with baby.