Related papers: HSImul3R: Physics-in-the-Loop Reconstruction of Si…

Reconstructing textured 3D human models from a single image is fundamental for AR/VR and digital human applications. However, existing methods mostly focus on single individuals and thus fail in multi-human scenes, where naive composition…

Accurately reconstructing human behavior in close-interaction scenarios is crucial for enabling realistic virtual interactions in augmented reality, precise motion analysis in sports, and natural collaborative behavior in human-robot tasks.…

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…

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.…

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…

Reconstructing physically stable 3D scenes from a single RGB image enables casual images to be converted into simulation-ready digital assets for applications such as immersive interaction and content creation. However, existing…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…

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…

Human-object-scene interactions (HOSI) generation has broad applications in embodied AI, simulation, and animation. Unlike human-object interaction (HOI) and human-scene interaction (HSI), HOSI generation requires reasoning over dynamic…

We introduce HuMoR: a 3D Human Motion Model for Robust Estimation of temporal pose and shape. Though substantial progress has been made in estimating 3D human motion and shape from dynamic observations, recovering plausible pose sequences…

The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…

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…

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…

Simultaneous understanding and 3D reconstruction plays an important role in developing end-to-end embodied intelligent systems. To achieve this, recent approaches resort to 2D-to-3D feature alignment paradigm, which leads to limited 3D…

We present a novel human-in-the-loop approach to estimate 3D scene layout that uses human feedback from an egocentric standpoint. We study this approach through introduction of a novel local correction task, where users identify local…

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…

Recovering 4D human-object interaction (HOI) from monocular video is a key step toward scalable 3D content creation, embodied AI, and simulation-based learning. Recent methods can reconstruct temporally coherent human and object…

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…

Remarkable strides have been made in reconstructing static scenes or human bodies from monocular videos. Yet, the two problems have largely been approached independently, without much synergy. Most visual SLAM methods can only reconstruct…

Recent advances in 2D-to-3D perception have enabled the recovery of 3D scene semantics from unposed images. However, prevailing methods often suffer from limited generalization, reliance on per-scene optimization, and semantic…