VLM-Guided Contact Retargeting and Generative Partner Modeling for Humanoid-Human Interaction

Paper recorded by Signals 4 on 2026-10-20 in cs.CV. Abstract reproduced from arXiv; link to the original below.

Published 2026-10-20 on arXiv · recorded by Signals 4 on 2026-10-21

Category: cs.CV · 计算机视觉 · first seen 2026-10-21

Abstract

Humanoid-human interaction requires robots to operate under severe partial observability: during close physical contact, the human partner is occluded, truncated, or outside the robot's field of view, causing pose estimation to fail and often necessitating external tracking or privileged human state. At the same time, heavy mutual occlusions introduce errors into the human-human motion-capture dat

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