DuetHOI: Language-Guided Bimanual Hand--Object Motion Generation with Articulation Planning and Contact Refinement
Bimanual articulated-object interaction generation requires a model to capture the evolution of object articulation, coordination between the two hands, and fine-grained hand--object contact. Existing methods typically encode object and hand motion as a unified high-dimensional sequence, making it difficult to explicitly accommodate the different scales of manipulation progress, relative bimanual motion, and local hand pose. We propose \textbf{DuetHOI}, a structured framework for bimanual articulated-object interaction generation. DuetHOI first uses ContactVAE to predict contact intent on the object surface from language and object geometry. Conditioned on this spatial intent, ArtPlanner ...
| Authors | Zhi Wang, Yuyan Liu, Liu liu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 March 2026 |
| Last updated at source | 31 July 2026 |
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