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LYRIC: Language-Driven Physics-Based Character Control for Contact-Rich Whole-Body Object Interaction

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

We present LYRIC, a generative flow-matching controller for language-driven physics-based contact-rich interaction control, that enables simulated characters to perform contact-rich whole-body object interactions from a free-form language instruction and a sparse terminal object goal. To obtain reliable expert trajectories from imperfect motion-capture references, a single tracking policy is trained using geometry-conditioned interaction rewards and relaxed reference tracking near hand-object contact. To guide interaction progress without prescribing a full-body kinematic reference, we factori

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