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

Abstract:Learning from demonstration (LfD) has enabled humanoid robots to acquire diverse whole-body skills, but extending this paradigm to human-object interaction (HOI) is limited by the availability of robot-compatible interaction references. We present HOI-Retarget, a contact-centric retargeting method that transfers HOI onto a humanoid robot for large-scale motion-data generation. Its windowed trajectory optimization uses every labeled contact as a target in the object frame, balancing body tracking, foot support and smoothness under the robot's kinematic limits. The method can augment a single demonstration across object sizes, absorb contacts reconstructed from monocular video, and extend to several robots manipulating one object. We publicly release the code and the retargeted motion dataset.

8 pages, 6 figures. Submitted to ICRA. Website: this http URL

Robotics (cs.RO)

arXiv:2609.34674 [cs.RO]

(or arXiv:2609.34674v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.34674 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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