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

arXiv:2610.28523v1 Announce Type: cross 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 data used for learning. We present REACT, a framework for learning deployable humanoid-human interaction policies from human-human demonstrations. REACT

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