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EmbodyHOI: Hand-Object Interaction Generation with Embodiment Reachability Constraints Built In at Generation Time

EmbodyHOI runs a differentiable inverse kinematics (IK) solver for a specific humanoid embodiment inside the sampling loop of a frozen flow-matching hand-object interaction (HOI) trajectory generator, placing embodiment reachability constraints within the generation process rather than in post-hoc retargeting.

Part of the event: EmbodyHOI introduces embodiment reachability constraints during generation

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