Related papers: PhySIC: Physically Plausible 3D Human-Scene Intera…

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…

Existing methods for reconstructing objects and humans from a monocular image suffer from severe mesh collisions and performance limitations for interacting occluding objects. This paper introduces a method to obtain a globally consistent…

We present HSImul3R, a unified framework for simulation-ready 3D reconstruction of human-scene interactions (HSI) from casual captures, including sparse-view images and monocular videos. Existing methods suffer from a perception-simulation…

Marker-less 3D human motion capture from a single colour camera has seen significant progress. However, it is a very challenging and severely ill-posed problem. In consequence, even the most accurate state-of-the-art approaches have…

Existing single-image 3D indoor scene generators often produce results that look visually plausible but fail to obey real-world physics, limiting their reliability in robotics, embodied AI, and design. To examine this gap, we introduce a…

Despite substantial progress in text-driven 3D human motion synthesis, generating realistic multi-person interaction sequences remains challenging. Notably, body inter-penetration is a pervasive issue from both data acquisition to the…

We present a novel method for recovering the absolute pose and shape of a human in a pre-scanned scene given a single image. Unlike previous methods that perform sceneaware mesh optimization, we propose to first estimate absolute position…

Holistic 3D human-scene reconstruction is a crucial and emerging research area in robot perception. A key challenge in holistic 3D human-scene reconstruction is to generate a physically plausible 3D scene from a single monocular RGB image.…

Generating good quality and geometrically plausible synthetic images of humans with the ability to control appearance, pose and shape parameters, has become increasingly important for a variety of tasks ranging from photo editing, fashion…

This paper introduces a novel pipeline to reconstruct the geometry of interacting multi-person in clothing on a globally coherent scene space from a single image. The main challenge arises from the occlusion: a part of a human body is not…

In the presence of occlusions and measurement noise, geometrically accurate scene reconstructions -- which fit the sensor data -- can still be physically incorrect. For instance, when estimating the poses and shapes of objects in the scene…

Monocular vertex-level human-scene contact prediction is a fundamental capability for interactive systems such as assistive monitoring, embodied AI, and rehabilitation analysis. In this work, we study this task jointly with single-image 3D…

This work addresses the problem of recovering complete, simulatable object geometry from reconstructed real-world scenes, enabling physics-based interaction with objects embedded in the scene. While modern multi-view reconstruction methods…

Creating scenes for captured motions that achieve realistic human-scene interaction is crucial for 3D animation in movies or video games. As character motion is often captured in a blue-screened studio without real furniture or objects in…

We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the robot's proprioception. While the computer vision community…

Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability…

Human motion synthesis is an important problem with applications in graphics, gaming and simulation environments for robotics. Existing methods require accurate motion capture data for training, which is costly to obtain. Instead, we…

Existing multi-person human reconstruction approaches mainly focus on recovering accurate poses or avoiding penetration, but overlook the modeling of close interactions. In this work, we tackle the task of reconstructing closely interactive…

With recent developments in Embodied Artificial Intelligence (EAI) research, there has been a growing demand for high-quality, large-scale interactive scene generation. While prior methods in scene synthesis have prioritized the naturalness…

We propose a new 3D holistic++ scene understanding problem, which jointly tackles two tasks from a single-view image: (i) holistic scene parsing and reconstruction---3D estimations of object bounding boxes, camera pose, and room layout, and…