PrimHOI: Compositional Human-Object Interaction via Reusable Primitives

Figure 1. Diverse HOI motions for complex tasks generated by PrimHOI. Given an unseen high-level task description, our PrimHOI plans and generates diverse HOI motions that fulfill task requirements through spatial and temporal composition of generalizable interaction primitives. These primitives capture repetitive local contact patterns from everyday interactions, enabling systematic reuse across different scenarios. PrimHOI achieves zero-shot transfer to unseen HOI tasks without requiring task-specific training data.