Learning to Assist: Physics-Grounded Human-Human Control via Multi-Agent Reinforcement Learning

ArXi:2603.11346v1 Announce Type: new 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 a broad range of human motions, these behaviors are primarily limited to contact-less social interactions or isolated movements. Assistive scenarios, by contrast, require continuous awareness of a human partner and rapid adaptation to their evolving posture and dynamics.