HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction

arXiv:2609.34674 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Terminology

• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Data Augmentation — 3× in this paper · explained in 7 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes

Sources

• TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
• DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactions
• Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control
• ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
• Viser: Imperative, Web-based 3D Visualization in Python
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Proximal Policy Optimization Algorithms
• RSL-RL: A Learning Library for Robotics Research

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