# Towards Immersive Human-X Interaction: A Real-Time Framework for Physically Plausible Motion Synthesis

arXiv: https://arxiv.org/abs/2508.02106 · HTML: https://mlsanity.com/paper/2508.02106/

## Key facts

- Cited by 20 papers in the map (data through 14 Oct 2026).
- Builds on 59 of its 75 references that are in the map.
- First posted on arXiv 4 Aug 2025.

## Builds on (most cited first, 30 of 59)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [DistilBERT, a distilled version of BERT: smaller, faster, cheaper and lighter](https://mlsanity.com/paper/1910.01108/) (2019)
- [Video Diffusion Models](https://mlsanity.com/paper/2204.03458/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Expressive Body Capture: 3D Hands, Face, and Body from a Single Image](https://mlsanity.com/paper/1904.05866/) (2019)
- [Generative Adversarial Imitation Learning](https://mlsanity.com/paper/1606.03476/) (2016)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [Human Motion Diffusion Model](https://mlsanity.com/paper/2209.14916/) (2022)
- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [Scheduled Sampling for Sequence Prediction with Recurrent Neural Networks](https://mlsanity.com/paper/1506.03099/) (2015)
- [MotionDiffuse: Text-Driven Human Motion Generation with Diffusion Model](https://mlsanity.com/paper/2208.15001/) (2022)
- [MotionGPT: Human Motion as a Foreign Language](https://mlsanity.com/paper/2306.14795/) (2023)
- [PhysDiff: Physics-Guided Human Motion Diffusion Model](https://mlsanity.com/paper/2212.02500/) (2022)
- [HuMoR: 3D Human Motion Model for Robust Pose Estimation](https://mlsanity.com/paper/2105.04668/) (2021)
- [EDGE: Editable Dance Generation From Music](https://mlsanity.com/paper/2211.10658/) (2022)
- [ReMoDiffuse: Retrieval-Augmented Motion Diffusion Model](https://mlsanity.com/paper/2304.01116/) (2023)
- [Diffusion-based Generation, Optimization, and Planning in 3D Scenes](https://mlsanity.com/paper/2301.06015/) (2023)
- [Perpetual Humanoid Control for Real-time Simulated Avatars](https://mlsanity.com/paper/2305.06456/) (2023)
- [InterGen: Diffusion-based Multi-human Motion Generation under Complex Interactions](https://mlsanity.com/paper/2304.05684/) (2023)
- [Listen, Denoise, Action! Audio-Driven Motion Synthesis with Diffusion Models](https://mlsanity.com/paper/2211.09707/) (2022)
- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation](https://mlsanity.com/paper/2403.04436/) (2024)
- [Universal Humanoid Motion Representations for Physics-Based Control](https://mlsanity.com/paper/2310.04582/) (2023)
- [CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control](https://mlsanity.com/paper/2410.03441/) (2024)

## Built on by (most cited first, 20 of 20)

- [ARDY: Autoregressive Diffusion with Hybrid Representation for Interactive Human Motion Generation](https://mlsanity.com/paper/2607.08741/) (2026)
- [IRG-MotionLLM: Interleaving Motion Generation, Assessment and Refinement for Text-to-Motion Generation](https://mlsanity.com/paper/2512.10730/) (2025)
- [Interact2Ar: Full-Body Human-Human Interaction Generation via Autoregressive Diffusion Models](https://mlsanity.com/paper/2512.19692/) (2025)
- [TeamHOI: Learning a Unified Policy for Cooperative Human-Object Interactions with Any Team Size](https://mlsanity.com/paper/2603.07988/) (2026)
- [Diffusion Forcing for Multi-Agent Interaction Sequence Modeling](https://mlsanity.com/paper/2512.17900/) (2025)
- [ProAct: Harnessing Streaming Motion Generation and Agentic Reasoning for Real-Time Embodied Social Interaction](https://mlsanity.com/paper/2602.14048/) (2026)
- [Disentangled Hierarchical VAE for 3D Human-Human Interaction Generation](https://mlsanity.com/paper/2603.00144/) (2026)
- [UniHM: Unified Dexterous Hand Manipulation with Vision Language Model](https://mlsanity.com/paper/2603.00732/) (2026)
- [ARMFlow: AutoRegressive MeanFlow for Online 3D Human Reaction Generation](https://mlsanity.com/paper/2512.16234/) (2025)
- [U-Mind: A Unified Framework for Real-Time Multimodal Interaction with Audiovisual Generation](https://mlsanity.com/paper/2602.23739/) (2026)
- [Learning to Assist: Physics-Grounded Human-Human Control via Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2603.11346/) (2026)
- [Stability-Driven Motion Generation for Object-Guided Human-Human Co-Manipulation](https://mlsanity.com/paper/2604.20336/) (2026)
- [DiscoForcing: A Unified Framework for Real-Time Audio-Driven Character Control with Diffusion Forcing](https://mlsanity.com/paper/2605.28491/) (2026)
- [Dancing Points: Synthesizing Ballroom Dancing with Three-Point Inputs](https://mlsanity.com/paper/2601.02096/) (2026)
- [Unified Number-Free Text-to-Motion Generation Via Flow Matching](https://mlsanity.com/paper/2603.27040/) (2026)
- [TROPHIES: Temporal Reconstruction of Places, Humans, and Cameras from Multi-view Videos](https://mlsanity.com/paper/2606.02350/) (2026)
- [HAT-4D: Lifting Monocular Video for 4D Multi-Object Interactions via Human-Agent Collaboration](https://mlsanity.com/paper/2606.28215/) (2026)
- [Inter-X++: A Comprehensive Benchmark for Multimodal Human-Human Interaction Analysis](https://mlsanity.com/paper/2608.20312/) (2026)
- [Super Star: Towards Streaming Real-time Interactive Agents for Digital Humans](https://mlsanity.com/paper/2608.24909/) (2026)
- [Generative Interactions: Weaving Multiparty Human Motion with Bilevel Latent Dynamics](https://mlsanity.com/paper/2609.37708/) (2026)

## Abstract (arXiv)

Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to address the fundamental tension between real-time responsiveness, physical feasibility, and safety requirements in dynamic human-machine interactions. We introduce Human-X, a novel framework designed to enable immersive and physically plausible human interactions across diverse entities, including human-avatar, human-humanoid, and human-robot systems. Unlike existing approaches that focus on post-hoc alignment or simplified physics, our method jointly predicts actions and reactions in real-time using an auto-regressive reaction diffusion planner, ensuring seamless synchronization and context-aware responses. To enhance physical realism and safety, we integrate an actor-aware motion tracking policy trained with reinforcement learning, which dynamically adapts to interaction partners' movements while avoiding artifacts like foot sliding and penetration. Extensive experiments on the Inter-X and InterHuman datasets demonstrate significant improvements in motion quality, interaction continuity, and physical plausibility over state-of-the-art methods. Our framework is validated in real-world applications, including virtual reality interface for human-robot interaction, showcasing its potential for advancing human-robot collaboration.