AI RESEARCH
InterReal: A Unified Physics-Based Imitation Framework for Learning Human-Object Interaction Skills
arXiv CS.AI
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ArXi:2603.07516v1 Announce Type: cross 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 physics-based imitation learning framework for Real-world human-object Interaction (HOI) control. InterReal enables humanoid robots to track HOI reference motions, facilitating the learning of fine-grained interactive skills and their deployment in real-world settings. Within this framework, we first