# Unleashing Guidance Without Classifiers for Human-Object Interaction Animation

arXiv: https://arxiv.org/abs/2603.25734 · HTML: https://mlsanity.com/paper/2603.25734/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 80 of its 88 references that are in the map.
- First posted on arXiv 26 Mar 2026.

## Builds on (most cited first, 30 of 80)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Sentence-BERT: Sentence Embeddings using Siamese BERT-Networks](https://mlsanity.com/paper/1908.10084/) (2019)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Deep Unsupervised Learning using Nonequilibrium Thermodynamics](https://mlsanity.com/paper/1503.03585/) (2015)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [DistilBERT, a distilled version of BERT: smaller, faster, cheaper and lighter](https://mlsanity.com/paper/1910.01108/) (2019)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Expressive Body Capture: 3D Hands, Face, and Body from a Single Image](https://mlsanity.com/paper/1904.05866/) (2019)
- [Objaverse: A Universe of Annotated 3D Objects](https://mlsanity.com/paper/2212.08051/) (2022)
- [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)
- [MotionDiffuse: Text-Driven Human Motion Generation with Diffusion Model](https://mlsanity.com/paper/2208.15001/) (2022)
- [Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion](https://mlsanity.com/paper/2407.01392/) (2024)
- [T2M-GPT: Generating Human Motion from Textual Descriptions with Discrete Representations](https://mlsanity.com/paper/2301.06052/) (2023)
- [TEMOS: Generating diverse human motions from textual descriptions](https://mlsanity.com/paper/2204.14109/) (2022)
- [MotionCLIP: Exposing Human Motion Generation to CLIP Space](https://mlsanity.com/paper/2203.08063/) (2022)
- [GRAB: A Dataset of Whole-Body Human Grasping of Objects](https://mlsanity.com/paper/2008.11200/) (2020)
- [TM2T: Stochastic and Tokenized Modeling for the Reciprocal Generation of 3D Human Motions and Texts](https://mlsanity.com/paper/2207.01696/) (2022)
- [Human Motion Diffusion as a Generative Prior](https://mlsanity.com/paper/2303.01418/) (2023)
- [ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation](https://mlsanity.com/paper/2204.13662/) (2022)
- [Resolving 3D Human Pose Ambiguities with 3D Scene Constraints](https://mlsanity.com/paper/1908.06963/) (2019)
- [BEHAVE: Dataset and Method for Tracking Human Object Interactions](https://mlsanity.com/paper/2204.06950/) (2022)
- [OmniControl: Control Any Joint at Any Time for Human Motion Generation](https://mlsanity.com/paper/2310.08580/) (2023)
- [Object Motion Guided Human Motion Synthesis](https://mlsanity.com/paper/2309.16237/) (2023)
- [InterGen: Diffusion-based Multi-human Motion Generation under Complex Interactions](https://mlsanity.com/paper/2304.05684/) (2023)
- [Stochastic Scene-Aware Motion Prediction](https://mlsanity.com/paper/2108.08284/) (2021)
- [TMR: Text-to-Motion Retrieval Using Contrastive 3D Human Motion Synthesis](https://mlsanity.com/paper/2305.00976/) (2023)

## Built on by (most cited first, 6 of 6)

- [HandX: Scaling Bimanual Motion and Interaction Generation](https://mlsanity.com/paper/2603.28766/) (2026)
- [Dex2HOI: Dexterous Bimanual Two-Object Interaction Generation](https://mlsanity.com/paper/2605.30444/) (2026)
- [HOIMask: Towards Generative Masked Modeling for Human Object Interaction Generation](https://mlsanity.com/paper/2608.15141/) (2026)
- [Harnessing Coupled Stream Completion For Human-Object Interaction Modeling](https://mlsanity.com/paper/2609.32551/) (2026)
- [PAMI: Part Anchored Motion for Text to Human-Object Interaction Generation](https://mlsanity.com/paper/2609.38466/) (2026)
- [Scalable Multi-Human Cooperative Manipulation via Commander-Executor Coordination](https://mlsanity.com/paper/2610.14911/) (2026)

## Abstract (arXiv)

Generating realistic human-object interaction (HOI) animations remains challenging because it requires jointly modeling dynamic human actions and diverse object geometries. Prior diffusion-based approaches often rely on hand-crafted contact priors or human-imposed kinematic constraints to improve contact quality. We propose LIGHT, a data-driven alternative in which guidance emerges from the denoising pace itself, reducing dependence on manually designed priors. Building on diffusion forcing, we factor the representation into modality-specific components and assign individualized noise levels with asynchronous denoising schedules. In this paradigm, cleaner components guide noisier ones through cross-attention, yielding guidance without auxiliary classifiers. We find that this data-driven guidance is inherently contact-aware, and can be enhanced when training is augmented with a broad spectrum of synthetic object geometries, encouraging invariance of contact semantics to geometric diversity. Extensive experiments show that pace-induced guidance more effectively mirrors the benefits of contact priors than conventional classifier-free guidance, while achieving higher contact fidelity, more realistic HOI generation, and stronger generalization to unseen objects and tasks.