HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction
Summary
HOI-Retarget introduces a contact-centric retargeting method for transferring human-object interactions to humanoid robots, enabling large-scale motion data generation from single demonstrations and monocular video contacts.
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Paper page - HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction
Source: https://huggingface.co/papers/2609.34674
Abstract
Learningfromdemonstration(LfD)hasenabledhumanoidrobotstoacquirediversewhole-bodyskills,butextendingthisparadigmtohuman-objectinteraction(HOI)islimitedbytheavailabilityofrobot-compatibleinteractionreferences.WepresentHOI-Retarget,acontact-centricretargetingmethodthattransfersHOIontoahumanoidrobotforlarge-scalemotion-datageneration.Itswindowedtrajectoryoptimizationuseseverylabeledcontactasatargetintheobjectframe,balancingbodytracking,footsupportandsmoothnessundertherobot’skinematiclimits.Themethodcanaugmentasingledemonstrationacrossobjectsizes,absorbcontactsreconstructedfrommonocularvideo,andextendtoseveralrobotsmanipulatingoneobject.Wepubliclyreleasethecodeandtheretargetedmotiondataset.
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