相关论文: Mimicking-Bench: A Benchmark for Generalizable Hum…

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…

Capturing and labeling real-world 3D data is laborious and time-consuming, which makes it costly to train strong 3D models. To address this issue, recent works present a simple method by generating randomized 3D scenes without simulation…

Existing function-calling benchmarks focus on single-turn interactions. However, they overlook the complexity of real-world scenarios. To quantify how existing benchmarks address practical applications, we introduce DICE-SCORE, a metric…

Human action recognition is a crucial task for intelligent robotics, particularly within the context of human-robot collaboration research. In self-supervised skeleton-based action recognition, the mask-based reconstruction paradigm learns…

Recent works on dynamic 3D neural field reconstruction assume the input from synchronized multi-view videos whose poses are known. The input constraints are often not satisfied in real-world setups, making the approach impractical. We show…

Learning robust and generalizable manipulation skills from demonstrations remains a key challenge in robotics, with broad applications in industrial automation and service robotics. While recent imitation learning methods have achieved…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Collaboration is a cornerstone of society. In the real world, human teammates make use of multi-sensory data to tackle challenging tasks in ever-changing environments. It is essential for embodied agents collaborating in visually-rich…

There has been significant work on learning realistic, articulated, 3D models of the human body. In contrast, there are few such models of animals, despite many applications. The main challenge is that animals are much less cooperative than…

Well-designed indoor scenes should prioritize how people can act within a space rather than merely what objects to place. However, existing 3D scene generation methods emphasize visual and semantic plausibility, while insufficiently…

Optimizing and refining action execution through exploration and interaction is a promising way for robotic manipulation. However, practical approaches to interaction-driven robotic learning are still underexplored, particularly for…

Human-scene Interaction (HSI) generation is a challenging task and crucial for various downstream tasks. However, one of the major obstacles is its limited data scale. High-quality data with simultaneously captured human and 3D environments…

While Multimodal Large Language Models (MLLMs) excel at many vision tasks, it is unknown if they exhibit human-like perceptual behaviors. To evaluate this, we introduce HVSBench, the first large-scale benchmark with over 85,000 samples…

Whenever we are addressing a specific object or refer to a certain spatial location, we are using referential or deictic gestures usually accompanied by some verbal description. Especially pointing gestures are necessary to dissolve…

3D human interaction generation has emerged as a key research area, focusing on producing dynamic and contextually relevant interactions between humans and various interactive entities. Recent rapid advancements in 3D model representation…

Human actions often involve complex interactions across several inter-related objects in the scene. However, existing approaches to fine-grained video understanding or visual relationship detection often rely on single object representation…

Generalizing control policies to novel embodiments remains a fundamental challenge in enabling scalable and transferable learning in robotics. While prior works have explored this in locomotion, a systematic study in the context of…

Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…

Crafting a single, versatile physics-based controller that can breathe life into interactive characters across a wide spectrum of scenarios represents an exciting frontier in character animation. An ideal controller should support diverse…

The rapid advancements in the development of multimodal large language models (MLLMs) have consistently led to new breakthroughs on various benchmarks. In response, numerous challenging and comprehensive benchmarks have been proposed to…