Generalized robots must learn from diverse, large-scale human-object interactions (HOI) to operate robustly in the real world. Monocular internet videos offer a nearly limitless and readily available source of data, capturing an unparalleled diversity of human activities, objects, and environments. However, accurately and scalably extracting 4D interaction data from these in-the-wild videos remains a significant and unsolved challenge. To overcome the annotation bottleneck, we introduce an efficient sparse contact annotation paradigm. To scale this process, we develop InterPoint, a multi-modal predictor that drives a human-in-the-loop data engine. Building upon these efficiently acquired annotations, we introduce 4DHOISolver, a novel optimization framework that constrains the ill-posed 4D HOI reconstruction problem, maintaining high spatio-temporal coherence and physical plausibility. Leveraging this framework, we introduce Open4DHOI, a new large-scale 4D HOI dataset featuring a diverse catalog of 135 object types and 133 actions. Furthermore, we demonstrate the effectiveness of our reconstructions by enabling an RL-based agent to imitate the recovered motions. Data and code will be publicly available at https://github.com/wenboran2002/open4dhoi_code.
@article{arxiv.2512.00960,
title = {Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction},
author = {Boran Wen and Ye Lu and Sirui Wang and Keyan Wan and Jiahong Zhou and Junxuan Liang and Xinpeng Liu and Bang Xiao and Ruiyang Liu and Yong-Lu Li},
journal= {arXiv preprint arXiv:2512.00960},
year = {2026}
}