相关论文: InterMimic: Towards Universal Whole-Body Control f…

Interaction is one of the core abilities of humanoid robots. However, most existing frameworks focus on non-interactive whole-body control, which limits their practical applicability. In this work, we develop InterReal, a unified…

Traditional reinforcement learning methods for human-object interaction (HOI) rely on labor-intensive, manually designed skill rewards that do not generalize well across different interactions. We introduce SkillMimic, a unified data-driven…

Humanoid loco-manipulation in unstructured environments demands tight integration of egocentric perception and whole-body control. However, existing approaches either depend on external motion capture systems or fail to generalize across…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

Enabling robust whole-body humanoid-object interaction (HOI) remains challenging due to motion data scarcity and the contact-rich nature. We present HDMI (HumanoiD iMitation for Interaction), a simple and general framework that learns…

We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. We augment UMI interfaces with egocentric…

Humanoid whole-body loco-manipulation promises transformative capabilities for daily service and warehouse tasks. While recent advances in general motion tracking (GMT) have enabled humanoids to reproduce diverse human motions, these…

Humans interact with objects all the time. Enabling a humanoid to learn human-object interaction (HOI) is a key step for future smart animation and intelligent robotics systems. However, recent progress in physics-based HOI requires…

Hand manipulating objects is an important interaction motion in our daily activities. We faithfully reconstruct this motion with a single RGBD camera by a novel deep reinforcement learning method to leverage physics. Firstly, we propose…

This paper addresses a novel task of anticipating 3D human-object interactions (HOIs). Most existing research on HOI synthesis lacks comprehensive whole-body interactions with dynamic objects, e.g., often limited to manipulating small or…

Generating physically realistic humanoid-object interactions (HOI) is a fundamental challenge in robotics. Existing HOI generation approaches, such as diffusion-based models, often suffer from artifacts such as implausible contacts,…

Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…

Text-conditioned human motion generation has experienced significant advancements with diffusion models trained on extensive motion capture data and corresponding textual annotations. However, extending such success to 3D dynamic…

How can we teach humanoids to climb staircases and sit on chairs using the surrounding environment context? Arguably, the simplest way is to just show them-casually capture a human motion video and feed it to humanoids. We introduce…

The Human-Object Interaction (HOI) task explores the dynamic interactions between humans and objects in physical environments, providing essential biomechanical and cognitive-behavioral foundations for fields such as robotics, virtual…

Crafting a single, versatile physics-based controller that can breathe life into interactive characters across a wide spectrum of scenarios represents an exciting frontier in character animation. An ideal controller should support diverse…

Generating human-object interactions (HOIs) is critical with the tremendous advances of digital avatars. Existing datasets are typically limited to humans interacting with a single object while neglecting the ubiquitous manipulation of…

Physics-based humanoid control has achieved remarkable progress in enabling realistic and high-performing single-agent behaviors, yet extending these capabilities to cooperative human-object interaction (HOI) remains challenging. We present…

We propose CG-HOI, the first method to address the task of generating dynamic 3D human-object interactions (HOIs) from text. We model the motion of both human and object in an interdependent fashion, as semantically rich human motion rarely…

While large-scale human motion capture datasets have advanced human motion generation, modeling and generating dynamic 3D human-object interactions (HOIs) remain challenging due to dataset limitations. Existing datasets often lack…