Related papers: MOGRAS: Human Motion with Grasping in 3D Scenes

Synthesizing 3D whole bodies that realistically grasp objects is useful for animation, mixed reality, and robotics. This is challenging, because the hands and body need to look natural w.r.t. each other, the grasped object, as well as the…

As robots become more present in open human environments, it will become crucial for robotic systems to understand and predict human motion. Such capabilities depend heavily on the quality and availability of motion capture data. However,…

Synthesizing 3D human motion plays an important role in many graphics applications as well as understanding human activity. While many efforts have been made on generating realistic and natural human motion, most approaches neglect the…

3D human motion capture from monocular RGB images respecting interactions of a subject with complex and possibly deformable environments is a very challenging, ill-posed and under-explored problem. Existing methods address it only weakly…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

Dynamic scene reconstruction is a long-term challenge in the field of 3D vision. Recently, the emergence of 3D Gaussian Splatting has provided new insights into this problem. Although subsequent efforts rapidly extend static 3D Gaussian to…

Understanding how we grasp objects with our hands has important applications in areas like robotics and mixed reality. However, this challenging problem requires accurate modeling of the contact between hands and objects. To capture grasps,…

3D grasp synthesis generates grasping poses given an input object. Existing works tackle the problem by learning a direct mapping from objects to the distributions of grasping poses. However, because the physical contact is sensitive to…

This paper addresses the challenge of learning semantically and functionally meaningful 3D motion priors from real-world videos, in order to enable prediction of future 3D scene motion from a single input image. We propose a novel…

Online reconstruction of dynamic scenes aims to learn from streaming multi-view inputs under low-latency constraints. The fast training and real-time rendering capabilities of 3D Gaussian Splatting have made on-the-fly reconstruction…

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…

Current motion capture (MoCap) systems generally require markers and multiple calibrated cameras, which can be used only in constrained environments. In this work we introduce a drone-based system for 3D human MoCap. The system only needs…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

Existing human Motion Capture (MoCap) methods mostly focus on the visual similarity while neglecting the physical plausibility. As a result, downstream tasks such as driving virtual human in 3D scene or humanoid robots in real world suffer…

In this paper, we tackle the problem of scene-aware 3D human motion forecasting. A key challenge of this task is to predict future human motions that are consistent with the scene by modeling the human-scene interactions. While recent works…

We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…

Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…

We present a novel method to generate human motion to populate 3D indoor scenes. It can be controlled with various combinations of conditioning signals such as a path in a scene, target poses, past motions, and scenes represented as 3D…

Generating 3D scenes from human motion sequences supports numerous applications, including virtual reality and architectural design. However, previous auto-regression-based human-aware 3D scene generation methods have struggled to…

We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…