{"ID":2857114,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.10206","arxiv_id":"2510.10206","title":"It Takes Two: Learning Interactive Whole-Body Control Between Humanoid Robots","abstract":"The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that echo the richness of human social interaction. However, single-humanoid methods suffer from the isolation issue, ignoring inter-agent dynamics and causing misaligned contacts, interpenetrations, and unrealistic motions. To address this, we present Harmanoid , a dual-humanoid motion imitation framework that transfers interacting human motions to two robots while preserving both kinematic fidelity and physical realism. Harmanoid comprises two key components: (i) contact-aware motion retargeting, which restores inter-body coordination by aligning SMPL contacts with robot vertices, and (ii) interaction-driven motion controller, which leverages interaction-specific rewards to enforce coordinated keypoints and physically plausible contacts. By explicitly modeling inter-agent contacts and interaction-aware dynamics, Harmanoid captures the coupled behaviors between humanoids that single-humanoid frameworks inherently overlook. Experiments demonstrate that Harmanoid significantly improves interactive motion imitation, surpassing existing single-humanoid frameworks that largely fail in such scenarios.","short_abstract":"The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that echo the richness of human social interaction. However, single-humanoid methods suffer from the isolation issue, ignoring inter-agent dynami...","url_abs":"https://arxiv.org/abs/2510.10206","url_pdf":"https://arxiv.org/pdf/2510.10206v1","authors":"[\"Zuhong Liu\",\"Junhao Ge\",\"Minhao Xiong\",\"Jiahao Gu\",\"Bowei Tang\",\"Wei Jing\",\"Siheng Chen\"]","published":"2025-10-11T13:14:13Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.MA\"]","methods":"[]","has_code":false}