Related papers: PhysHSI: Towards a Real-World Generalizable and Na…
Human-scene interaction (HSI) generation is crucial for applications in embodied AI, virtual reality, and robotics. Yet, existing methods cannot synthesize interactions in unseen environments such as in-the-wild scenes or reconstructed…
Synthesizing diverse and physically plausible Human-Scene Interactions (HSI) is pivotal for both computer animation and embodied AI. Despite encouraging progress, current methods mainly focus on developing separate controllers, each…
Learning generic skills for humanoid robots interacting with 3D scenes by mimicking human data is a key research challenge with significant implications for robotics and real-world applications. However, existing methodologies and…
Scenes are continuously undergoing dynamic changes in the real world. However, existing human-scene interaction generation methods typically treat the scene as static, which deviates from reality. Inspired by world models, we introduce…
Movement is how people interact with and affect their environment. For realistic character animation, it is necessary to synthesize such interactions between virtual characters and their surroundings. Despite recent progress in character…
Human-Scene Interaction (HSI) seeks to generate realistic human behaviors within complex environments, yet it faces significant challenges in handling long-horizon, high-level tasks and generalizing to unseen scenes. To address these…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
Generating 3D humans that functionally interact with 3D scenes remains an open problem with applications in embodied AI, robotics, and interactive content creation. The key challenge involves reasoning about both the semantics of functional…
Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to…
Human-Scene Interaction (HSI) is a vital component of fields like embodied AI and virtual reality. Despite advancements in motion quality and physical plausibility, two pivotal factors, versatile interaction control and the development of a…
Modeling human-scene interactions (HSI) is essential for understanding and simulating everyday human behaviors. Recent approaches utilizing generative modeling have made progress in this domain; however, they are limited in controllability…
We introduce LHM-Humanoid, a benchmark and learning framework for long-horizon whole-body humanoid loco-manipulation in diverse, cluttered scenes. In our setting, multiple objects are displaced from their intended locations and may obstruct…
The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…
Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this review, we examine the current state of the art in pHHI through…
Reconstructing metrically accurate humans and their surrounding scenes from a single image is crucial for virtual reality, robotics, and comprehensive 3D scene understanding. However, existing methods struggle with depth ambiguity,…
Humans are in constant contact with the world as they move through it and interact with it. This contact is a vital source of information for understanding 3D humans, 3D scenes, and the interactions between them. In fact, we demonstrate…
With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…
Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. Controlling the motion and behavior of these swarms presents unique challenges for human operators, who cannot yet…