OmniInteract: Towards Unified Whole-Body Interaction Control for Dual Humanoids

Physical interaction is a key capability for humanoid collaboration, requiring coordinated whole-body motion and precise contact. However, learning diverse dual-humanoid interactions faces two major challenges: (1) human-robot morphological differences disrupt contact interfaces and spatial relationships during retargeting, and (2) jointly learning motor skills and partner coordination makes it difficult to retain control fidelity as interaction diversity grows. In this paper, we propose $\text{OmniInteract}$ to address these challenges through surface-aware modeling and scalable residual policy learning. First, we introduce $\text{Surface Contact-Aware Retargeting}$, which leverages dense human-robot surface correspondences to jointly retarget both humanoids, preserving explicit interaction contact interfaces and their near-field geometric context. Second, we propose a $\text{Scalable Flow-based Interaction Policy}$ for partner-conditioned residual generation. It factorizes dual-humanoid control into a reusable motor foundation and interaction-specific adaptations: partner-aware experts learn corrections over a frozen whole-body motion prior, while conditional flow matching unifies them in a shared residual action space. This enables scalable skill consolidation while retaining pretrained motor capabilities. Extensive experiments demonstrate that OmniInteract improves retargeting fidelity and dual-humanoid coordination while better retaining interaction performance as skill diversity grows. Real-world deployment further demonstrates successful contact establishment, stable whole-body coordination, and recovery from external perturbations.