Cover Image

InterReal: A Unified Physics-Based Imitation Framework for Learning Human-Object Interaction Skills

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Liang, Dayang, Lin, Yuhang, Liu, Xinzhe, Shi, Jiyuan, Liu, Yunlong, Bai, Chenjia
Format:	Preprint
Published:	2026
Subjects:	Robotics Artificial Intelligence
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
by: Kong, Jipeng, et al.
Published: (2026)

Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction
by: Lin, Yuhang, et al.
Published: (2026)

Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
by: Shi, Jiyuan, et al.
Published: (2025)

KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
by: Xie, Weiji, et al.
Published: (2025)

MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains
by: Wang, Dewei, et al.
Published: (2025)

KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
by: Han, Jinrui, et al.
Published: (2025)

TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
by: Xie, Weiji, et al.
Published: (2026)

Skill-Nav: Enhanced Navigation with Versatile Quadrupedal Locomotion via Waypoint Interface
by: Wang, Dewei, et al.
Published: (2025)

PCHC: Enabling Preference Conditioned Humanoid Control via Multi-Objective Reinforcement Learning
by: Li, Huanyu, et al.
Published: (2026)

HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
by: Han, Jinrui, et al.
Published: (2026)

InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions
by: Xu, Sirui, et al.
Published: (2025)

InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions
by: Xu, Sirui, et al.
Published: (2026)

Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning
by: Xie, Weiji, et al.
Published: (2025)

Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning
by: Zhao, Yingnan, et al.
Published: (2025)

Learning Physical Interaction Skills from Human Demonstrations
by: Li, Tianyu, et al.
Published: (2025)

X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
by: Wang, Dewei, et al.
Published: (2026)

HALO:Closing Sim-to-Real Gap for Heavy-loaded Humanoid Agile Motion Skills via Differentiable Simulation
by: Wang, Xingyi, et al.
Published: (2026)

RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation
by: Wu, Philipp, et al.
Published: (2025)

ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
by: Lyu, Jiangran, et al.
Published: (2024)

Contrast, Imitate, Adapt: Learning Robotic Skills From Raw Human Videos
by: Qian, Zhifeng, et al.
Published: (2024)

RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
by: Murooka, Masaki, et al.
Published: (2025)

UniBYD: A Unified Framework for Learning Robotic Manipulation Across Embodiments Beyond Imitation of Human Demonstrations
by: Yuan, Tingyu, et al.
Published: (2025)

FABG : End-to-end Imitation Learning for Embodied Affective Human-Robot Interaction
by: Zhang, Yanghai, et al.
Published: (2025)

Model-Based Runtime Monitoring with Interactive Imitation Learning
by: Liu, Huihan, et al.
Published: (2023)

AnySkill: Learning Open-Vocabulary Physical Skill for Interactive Agents
by: Cui, Jieming, et al.
Published: (2024)

Human-to-Robot Interaction: Learning from Video Demonstration for Robot Imitation
by: Canh, Thanh Nguyen, et al.
Published: (2026)

Real-to-Sim for Highly Cluttered Environments via Physics-Consistent Inter-Object Reasoning
by: Xiang, Tianyi, et al.
Published: (2026)

RHINO: Learning Real-Time Humanoid-Human-Object Interaction from Human Demonstrations
by: Chen, Jingxiao, et al.
Published: (2025)

Cloud-Based Hierarchical Imitation Learning for Scalable Transfer of Construction Skills from Human Workers to Assisting Robots
by: Yu, Hongrui, et al.
Published: (2023)

Imitation Learning-Based Path Generation for the Complex Assembly of Deformable Objects
by: Kim, Yitaek, et al.
Published: (2025)

Beyond Imitation: Reinforcement Learning-Based Sim-Real Co-Training for VLA Models
by: Shi, Liangzhi, et al.
Published: (2026)

ManiLong-Shot: Interaction-Aware One-Shot Imitation Learning for Long-Horizon Manipulation
by: Chen, Zixuan, et al.
Published: (2025)

UniSkill: Imitating Human Videos via Cross-Embodiment Skill Representations
by: Kim, Hanjung, et al.
Published: (2025)

XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration
by: Cardenas-Perez, Carlos, et al.
Published: (2024)

Language-Conditioned Imitation Learning with Base Skill Priors under Unstructured Data
by: Zhou, Hongkuan, et al.
Published: (2023)

A Unified Multi-Layer Framework for Skill Acquisition from Imperfect Human Demonstrations
by: Yang, Zi-Qi, et al.
Published: (2026)

PRISM: Personalized Refinement of Imitation Skills for Manipulation via Human Instructions
by: Boix-Granell, Arnau, et al.
Published: (2026)

T2S: Tokenized Skill Scaling for Lifelong Imitation Learning
by: Zhang, Hongquan, et al.
Published: (2025)

Unified Learning from Demonstrations, Corrections, and Preferences during Physical Human-Robot Interaction
by: Mehta, Shaunak A., et al.
Published: (2022)

An Imitative Reinforcement Learning Framework for Pursuit-Lock-Launch Missions
by: Li, Siyuan, et al.
Published: (2024)