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cs.RO2026
LYRIC: Language-Driven Physics-Based Character Control for Contact-Rich Whole-Body Object Interaction
Zeyu Han, Zichong Meng, Julian Tanke +8
We present LYRIC, a generative flow-matching controller for language-driven physics-based contact-rich interaction control, that enables simulated characters to perform contact-ric…
cs.CV2026
Surface Keypoint Representation for Multi-Object and Articulated Human-Object Interaction Generation
Xiaogang Peng, Zeyu Han, Zichong Meng +4
Daily activities require humans to coordinate whole-body motion with the motion of surrounding objects. Despite recent progress in human-object interaction (HOI) generation, most e…