InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions

Understand

Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal.

• Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate human-object coupling, variability in object geometries, and artifacts in motion capture data, such as inaccurate contacts and limited hand detail.
• We introduce InterMimic, a framework that enables a single policy to robustly learn from hours of imperfect MoCap data covering diverse full-body interactions with dynamic and varied objects.
• Our key insight is to employ a curriculum strategy -- perfect first, then scale up.