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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ji6yfrhl76anyp31mefof4v8g
- Original: https://arxiv.org/abs/2610.27242

## Summary

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.