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

Figure 1. InterMimic enables physically simulated humans to perform interactions with dynamic and diverse objects. It supports highlydynamic, multi-object interactions and scalable skill learning (Top), making it adaptable for versatile downstream applications (Bottom): it can translate whole-body loco-manipulation skills to a humanoid robot [24,81], perfect interaction MoCap data, and bridge kinematic generation, e.g., predicting future interactions from past (InterDiff [101]) or generating interactions given text prompts (InterDreamer [102]).