From Solo to Ensemble: A Hierarchical Framework for Composable Multi-Agent Human-Object Interaction

Key points

The coordination problem where multiple humanoids handle the same object was hard because contact locations, motion directions, and force application must all be matched together.
The authors built a distillation-based hierarchical learning framework that converts single-human HOI knowledge into a reusable Object-oriented Motion Skill.
In downstream tasks the distilled skill is reused as a frozen executor, while a high-level policy generates region-wise object motions conditioned on the shared object and task goal.
On carrying tasks the method reached a success rate of 85.63 on four-human H-box carrying, higher than CooHOI at 80.96.
Although the skill was distilled only from single-human carrying, it supported two- and four-human sofa pushing by changing only the high-level policy.
In the standalone skill evaluation, the teacher-rollout targets gave a position error Epos of 79.8 (mm), a reach rate TTR of 100.0, and a trajectory success Succtraj of 98.9.

External research summaries. These are not HDATF publications or measured product results.