相关论文: TokenHSI: Unified Synthesis of Physical Human-Scen…

Estimating human pose, classifying actions, and predicting movement progress are essential for human-robot interaction. While vision-based methods suffer from occlusion and privacy concerns in realistic environments, tactile sensing avoids…

This work focuses on generating realistic, physically-based human behaviors from multi-modal inputs, which may only partially specify the desired motion. For example, the input may come from a VR controller providing arm motion and body…

Humans constantly interact with their surrounding environments. Current human-centric generative models mainly focus on synthesizing humans plausibly interacting with static scenes and objects, while the dynamic human action-reaction…

Understanding social interactions involving both verbal and non-verbal cues is essential for effectively interpreting social situations. However, most prior works on multimodal social cues focus predominantly on single-person behaviors or…

Human pose estimation and action recognition are related tasks since both problems are strongly dependent on the human body representation and analysis. Nonetheless, most recent methods in the literature handle the two problems separately.…

Hand pose estimation plays a vital role in capturing subtle nonverbal cues essential for understanding human affect. However, collecting diverse, expressive real-world data remains challenging due to labor-intensive manual annotation that…

Randomly masking and predicting word tokens has been a successful approach in pre-training language models for a variety of downstream tasks. In this work, we observe that the same idea also applies naturally to sequential decision-making,…

Long-Horizon (LH) tasks in Human-Scene Interaction (HSI) are complex multi-step tasks that require continuous planning, sequential decision-making, and extended execution across domains to achieve the final goal. However, existing methods…

The traditional user-centered design process can hardly keep up with the ever faster technical development and increasingly diverse user preferences. As a solution, we propose to augment the tried-and-tested approach of conducting user…

Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…

This paper explores a cross-modality synthesis task that infers 3D human-object interactions (HOIs) from a given text-based instruction. Existing text-to-HOI synthesis methods mainly deploy a direct mapping from texts to object-specific 3D…

Human-centered AI (HCAI) puts the user in the driver's seat of so-called human-centered AI-infused tools (HCAI tools): interactive software tools that amplify, augment, empower, and enhance human performance using AI models. We discuss how…

Over the past few years, the vision transformer and its various forms have gained significance in human pose estimation. By treating image patches as tokens, transformers can capture global relationships wisely, estimate the keypoint tokens…

Embodied agents capable of complex physical skills can improve productivity, elevate life quality, and reshape human-machine collaboration. We aim at autonomous training of embodied agents for various tasks involving mainly large foundation…

Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…

Generating large-scale multi-character interactions is a challenging and important task in character animation. Multi-character interactions involve not only natural interactive motions but also characters coordinated with each other for…

We introduce SynPlay, a large-scale synthetic human dataset purpose-built for advancing multi-perspective human localization, with a predominant focus on aerial-view perception. SynPlay departs from traditional synthetic datasets by…

We propose a novel task of text-controlled human object interaction generation in 3D scenes with movable objects. Existing human-scene interaction datasets suffer from insufficient interaction categories and typically only consider…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

In this paper, we introduce an innovative vector quantization based action tokenizer built upon the largest-scale action trajectory dataset to date, leveraging over 100 times more data than previous approaches. This extensive dataset…