# MaMi-HOI: Harmonizing Global Kinematics and Local Geometry for Human-Object Interaction Generation

arXiv: https://arxiv.org/abs/2605.05756 · HTML: https://mlsanity.com/paper/2605.05756/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 33 of its 38 references that are in the map.
- First posted on arXiv 7 May 2026.

## Builds on (most cited first, 30 of 33)

- [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)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Improved Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2102.09672/) (2021)
- [Expressive Body Capture: 3D Hands, Face, and Body from a Single Image](https://mlsanity.com/paper/1904.05866/) (2019)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [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)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [Sora: A Review on Background, Technology, Limitations, and Opportunities of Large Vision Models](https://mlsanity.com/paper/2402.17177/) (2024)
- [3D-FUTURE: 3D Furniture shape with TextURE](https://mlsanity.com/paper/2009.09633/) (2020)
- [Diffusion-based Generation, Optimization, and Planning in 3D Scenes](https://mlsanity.com/paper/2301.06015/) (2023)
- [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)
- [InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusion](https://mlsanity.com/paper/2308.16905/) (2023)
- [HUMANISE: Language-conditioned Human Motion Generation in 3D Scenes](https://mlsanity.com/paper/2210.09729/) (2022)
- [CG-HOI: Contact-Guided 3D Human-Object Interaction Generation](https://mlsanity.com/paper/2311.16097/) (2023)
- [Synthesizing Diverse Human Motions in 3D Indoor Scenes](https://mlsanity.com/paper/2305.12411/) (2023)
- [Controllable Human-Object Interaction Synthesis](https://mlsanity.com/paper/2312.03913/) (2023)
- [Efficient Learning on Point Clouds with Basis Point Sets](https://mlsanity.com/paper/1908.09186/) (2019)
- [Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interaction](https://mlsanity.com/paper/2404.00562/) (2024)
- [Human-Object Interaction from Human-Level Instructions](https://mlsanity.com/paper/2406.17840/) (2024)
- [Zero-Shot Robot Manipulation from Passive Human Videos](https://mlsanity.com/paper/2302.02011/) (2023)
- [Generating Human Motion in 3D Scenes from Text Descriptions](https://mlsanity.com/paper/2405.07784/) (2024)
- [THOR: Text to Human-Object Interaction Diffusion via Relation Intervention](https://mlsanity.com/paper/2403.11208/) (2024)
- [Hierarchical Planning and Control for Box Loco-Manipulation](https://mlsanity.com/paper/2306.09532/) (2023)
- [Joint Reconstruction of 3D Human and Object via Contact-Based Refinement Transformer](https://mlsanity.com/paper/2404.04819/) (2024)
- [Interaction Replica: Tracking Human-Object Interaction and Scene Changes From Human Motion](https://mlsanity.com/paper/2205.02830/) (2022)
- [AvatarGO: Zero-shot 4D Human-Object Interaction Generation and Animation](https://mlsanity.com/paper/2410.07164/) (2024)
- [Guiding Human-Object Interactions with Rich Geometry and Relations](https://mlsanity.com/paper/2503.20172/) (2025)

## Abstract (arXiv)

Generating realistic 3D Human-Object Interactions (HOI) is a fundamental task for applications ranging from embodied AI to virtual content creation, which requires harmonizing high-level semantic intent with strict low-level physical constraints. Existing methods excel at semantic alignment, however, they struggle to maintain precise object contact. We reveal a key finding termed textitGeometric Forgetting: as diffusion model depth increases, semantic feature tend to overshadow object geometry feature, causing the model to lose its perception to object geometry. To address this, we propose MaMi-HOI, a hierarchical framework reconciling Macro-level kinematic fluidity with Micro-level spatial precision. First, to counteract geometric forgetting, we introduce the Geometry-Aware Proximity Adapter (GAPA), which explicitly re-injects dense object details to perform residual snapping corrections for precise contact. Nevertheless, such aggressive local enforcement can disrupt global dynamics, leading to robotic stiffness. In response, we introduce the Kinematic Harmony Adapter (KHA), which proactively aligns whole-body posture with spatial objectives, ensuring the skeleton actively accommodates constraints without compromising naturalness. Extensive experiments validate that MaMi-HOI simultaneously achieves natural motion and precise contact. Crucially, it extends generation capabilities to long-term tasks with complex trajectories, effectively bridging the gap between global navigation and high-fidelity manipulation in 3D scenes. Code is available at https://github.com/DON738110198/MaMi-HOI.git