发表机构
ShanghaiTech University（上海科技大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对多智能体人-物体交互的复用性难题，提出分层框架将单智能体策略转为可复用面向物体的运动技能，实现跨交互类型、物体几何及团队规模的可组合策略学习。
AI 中文摘要
基于物理的人-物体交互（HOI）已实现稳健的单智能体操作技能，但将其扩展至多智能体协作任务仍具挑战性。现有方法通常通过特定任务的微调来调整交互策略，这将低层级的接触丰富型执行与高层级的协调相纠缠，限制了其在物体几何结构、交互类型及团队规模间的复用性。我们提出一种分层框架，可将单智能体HOI策略转换为可复用的面向物体的运动技能。具体而言，我们将教师的 rollout 重新解释为面向物体的动作监督，方法是从执行轨迹中提取短时间范围的物体代理运动，并将特定任务的教师提炼为在面向物体的动作空间中运行的低层级技能。对于下游任务，提炼出的技能被冻结为可复用的执行器，而高层级策略则通过基于共享物体、任务目标、智能体状态及局部操作区域生成区域式面向物体的动作，来协调多个智能体。该公式将多智能体HOI学习从直接的接触丰富型全身控制转变为紧凑的物体级代理运动协调。在多种HOI任务上的实验表明，提炼出的面向物体的运动技能支持稳健的代理运动执行，并能实现跨不同交互类型、物体几何结构及团队规模的可组合策略学习。
英文摘要
Physics-based human-object interaction has achieved robust single-agent manipulation skills, yet extending them to multi-agent cooperative tasks remains challenging. Existing approaches typically adapt interaction policies through task-specific fine-tuning, which entangles low-level contact-rich execution with high-level coordination and limits reuse across object geometries, interaction types, and team sizes. We propose a hierarchical framework that converts a single-agent HOI policy into a reusable Object-oriented Motion Skill. Specifically, we reinterpret teacher rollouts as object-oriented action supervision by extracting short-horizon object-proxy motions from executed trajectories, and distill task-specific teachers into a low-level skill operating in an Object-oriented Action Space. For downstream tasks, the distilled skill is frozen as a reusable executor, while a high-level policy coordinates multiple agents by generating region-wise object-oriented actions conditioned on the shared object, task goal, agent states, and local manipulation regions. This formulation shifts multi-agent HOI learning from direct contact-rich full-body control to compact object-level proxy-motion coordination. Experiments on diverse HOI tasks show that the distilled Object-oriented Motion Skill supports robust proxy-motion execution and enables composable policy learning across different interaction types, object geometries, and team sizes.
