SimGenHOI generates physically plausible humanoid-object interaction sequences by predicting sparse key actions with a diffusion transformer and tracking them with a contact-aware reinforcement learning policy in simulation.
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SimGenHOI: Physically Realistic Whole-Body Humanoid-Object Interaction via Generative Modeling and Reinforcement Learning
SimGenHOI generates physically plausible humanoid-object interaction sequences by predicting sparse key actions with a diffusion transformer and tracking them with a contact-aware reinforcement learning policy in simulation.