Keypoint-based action recognition offers robustness to appearance variations and provides privacy-preserving representation. However, existing zero-shot (ZS) approaches largely emphasize human motion while underutilizing contextual information, particularly human–object interactions. Moreover, extending keypoint-based ZS models to few-shot scenarios remains insufficiently explored. We propose Instance-aware Semantic Alignment and Transfer (InsAT), a unified framework for ZS recognition and zero-to-few-shot (Z2F) adaptation that leverages instance-level language descriptions. InsAT aligns textual descriptions of humans, objects, and their interactions with visual representations derived from human and object keypoints, enabling effective transfer of interaction knowledge from seen to unseen action classes. To support Z2F adaptation, we introduce Instance-level Visual Adaptation, a parameter-free mechanism that improves recognition by incorporating instance-level contextual cues without updating model weights. Extensive experiments demonstrate that InsAT substantially outperforms prior keypoint-based ZS methods and achieves competitive performance relative to large vision–language models, while remaining data-efficient and robust.