DuetHOI: Language-Guided Bimanual Hand--Object Motion Generation with Articulation Planning and Contact Refinement

Bimanual articulated-object interaction generation requires a model to capture the evolution of object articulation, coordination between the two hands, and fine-grained hand--object contact. Existing methods typically encode object and hand motion as a unified high-dimensional sequence, making it difficult to explicitly accommodate the different scales of manipulation progress, relative bimanual motion, and local hand pose. We propose DuetHOI, a structured framework for bimanual articulated-object interaction generation. DuetHOI first uses ContactVAE to predict contact intent on the object surface from language and object geometry. Conditioned on this spatial intent, ArtPlanner provides a trajectory-level articulation reference, and DualFormer generates the global interaction using object states, object-centered hand positions, and compact hand-pose tokens learned by ManiVAE. After global generation, ProxiRefine fixes the object trajectory and residually corrects the two hands using current hand--object proximity, improving local surface alignment. Experiments across articulated and rigid objects and single- and bimanual settings show that DuetHOI outperforms three adapted baselines on most contact and hand--object consistency metrics, with particularly strong results in bimanual articulated interaction generation.