Generative models of 3D human motion are often restricted to a small number of activities and can therefore not generalize well to novel movements or applications. In this work we propose a deep learning framework for human motion capture data that learns a generic representation from a large corpus of motion capture data and generalizes well to new, unseen, motions. Using an encoding-decoding network that learns to predict future 3D poses from the most recent past, we extract a feature representation of human motion. Most work on deep learning for sequence prediction focuses on video and speech. Since skeletal data has a different structure, we present and evaluate different network architectures that make different assumptions about time dependencies and limb correlations. To quantify the learned features, we use the output of different layers for action classification and visualize the receptive fields of the network units. Our method outperforms the recent state of the art in skeletal motion prediction even though these use action specific training data. Our results show that deep feedforward networks, trained from a generic mocap database, can successfully be used for feature extraction from human motion data and that this representation can be used as a foundation for classification and prediction.
We develop a technique for generating smooth and accurate 3D human pose and motion estimates from RGB video sequences. Our method, which we call Motion Estimation via Variational Autoencoder (MEVA), decomposes a temporal sequence of human motion into a smooth motion representation using auto-encoder-based motion compression and a residual representation learned through motion refinement. This two-step encoding of human motion captures human motion in two stages: a general human motion estimation step that captures the coarse overall motion, and a residual estimation that adds back person-speci…
Sun Yat-sen University（中山大学）；Tencent AI Lab（腾讯人工智能实验室）
Human motion prediction aims at generating future frames of human motion based on an observed sequence of skeletons. Recent methods employ the latest hidden states of a recurrent neural network (RNN) to encode the historical skeletons, which can only address short-term prediction. In this work, we propose a motion context modeling by summarizing the historical human motion with respect to the current prediction. A modified highway unit (MHU) is proposed for efficiently eliminating motionless joints and estimating next pose given the motion context. Furthermore, we enhance the motion dynamic by…
Hong Kong University of Science and Technology（香港科技大学）；Huya Inc（虎牙公司）；Tencent（腾讯）；Fudan University（复旦大学）；Carnegie Mellon University（卡内基梅隆大学）
Human motion transfer aims to transfer motions from a target dynamic person to a source static one for motion synthesis. An accurate matching between the source person and the target motion in both large and subtle motion changes is vital for improving the transferred motion quality. In this paper, we propose Human MotionFormer, a hierarchical ViT framework that leverages global and local perceptions to capture large and subtle motion matching, respectively. It consists of two ViT encoders to extract input features (i.e., a target motion image and a source human image) and a ViT decoder with s…
We present a generative method to estimate 3D human motion and body shape from monocular video. Under the assumption that starting from an initial pose optical flow constrains subsequent human motion, we exploit flow to find temporally coherent human poses of a motion sequence. We estimate human motion by minimizing the difference between computed flow fields and the output of an artificial flow renderer. A single initialization step is required to estimate motion over multiple frames. Several regularization functions enhance robustness over time. Our test scenarios demonstrate that optical fl…
UC San Diego（加州大学圣地亚哥分校）；UC Berkeley（加州大学伯克利分校）；Shanghai Jiao Tong University（上海交通大学）；NVIDIA（英伟达）
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 importance of modeling human-scene interactions and affordance. On the other hand, affordance reasoning (e.g., standing on the floor or sitting on the chair) has mainly been studied with static human pose and gestures, and it has rarely been addressed with human motion. In this paper, we propose to bridge human motion synthesis and scene affordance reasoning. We…
Nanjing University of Science and Technology（南京理工大学）；Nanjing University of Aeronautics and Astronautics（南京航空航天大学）；Huawei Cloud（华为云）；Tencent AI Lab（腾讯人工智能实验室）
Human motion prediction aims to generate future motions based on the observed human motions. Witnessing the success of Recurrent Neural Networks (RNN) in modeling the sequential data, recent works utilize RNN to model human-skeleton motion on the observed motion sequence and predict future human motions. However, these methods did not consider the existence of the spatial coherence among joints and the temporal evolution among skeletons, which reflects the crucial characteristics of human motion in spatiotemporal space. To this end, we propose a novel Skeleton-joint Co-attention Recurrent Neur…
Korea University（高丽大学）；Allen Institute for AI（艾伦人工智能研究所）
In this work, we present MoLang (a Motion-Language connecting model) for learning joint representation of human motion and language, leveraging both unpaired and paired datasets of motion and language modalities. To this end, we propose a motion-language model with contrastive learning, empowering our model to learn better generalizable representations of the human motion domain. Empirical results show that our model learns strong representations of human motion data through navigating language modality. Our proposed method is able to perform both action recognition and motion retrieval tasks …
University of Alberta（阿尔伯塔大学）；University of Chicago（芝加哥大学）；Yale University（耶鲁大学）；University of Guelph（圭尔夫大学）
Action recognition is a relatively established task, where givenan input sequence of human motion, the goal is to predict its ac-tion category. This paper, on the other hand, considers a relativelynew problem, which could be thought of as an inverse of actionrecognition: given a prescribed action type, we aim to generateplausible human motion sequences in 3D. Importantly, the set ofgenerated motions are expected to maintain itsdiversityto be ableto explore the entire action-conditioned motion space; meanwhile,each sampled sequence faithfully resembles anaturalhuman bodyarticulation dynamics. M…
Human pose estimation in images and videos is one of key technologies for realizing a variety of human activity recognition tasks (e.g., human-computer interaction, gesture recognition, surveillance, and video summarization). This paper presents two types of human pose estimation methodologies; 1) 3D human pose tracking using motion priors and 2) 2D human pose estimation with ensemble modeling.
MotionLLM: Understanding Human Behaviors from Human Motions and Videos
Tsinghua University（清华大学）；International Digital Economy Academy (IDEA Research)（国际数字经济学院（IDEA研究院））；The Hong Kong University of Science and Technology（香港科技大学）；School of Data Science, The Chinese University of Hong Kong, Shenzhen (CUHK-SZ)（香港中文大学（深圳）数据科学学院）
Human motion prediction from motion capture data is a classical problem in the computer vision, and conventional methods take the holistic human body as input. These methods ignore the fact that, in various human activities, different body components (limbs and the torso) have distinctive characteristics in terms of the moving pattern. In this paper, we argue local representations on different body components should be learned separately and, based on such idea, propose a network, Skeleton Network (SkelNet), for long-term human motion prediction. Specifically, at each time-step, local structur…
Predicting human motion is critical for assistive robots and AR/VR applications, where the interaction with humans needs to be safe and comfortable. Meanwhile, an accurate prediction depends on understanding both the scene context and human intentions. Even though many works study scene-aware human motion prediction, the latter is largely underexplored due to the lack of ego-centric views that disclose human intent and the limited diversity in motion and scenes. To reduce the gap, we propose a large-scale human motion dataset that delivers high-quality body pose sequences, scene scans, as well…
Institute of Information Science, Academia Sinica（中央研究院资讯科学研究所）；Providence University（静宜大学）
Learning to capture human motion is essential to 3D human pose and shape estimation from monocular video. However, the existing methods mainly rely on recurrent or convolutional operation to model such temporal information, which limits the ability to capture non-local context relations of human motion. To address this problem, we propose a motion pose and shape network (MPS-Net) to effectively capture humans in motion to estimate accurate and temporally coherent 3D human pose and shape from a video. Specifically, we first propose a motion continuity attention (MoCA) module that leverages visu…
University of British Columbia（不列颠哥伦比亚大学）；MPI for Intelligent Systems（马克斯·普朗克智能系统研究所）；Body Labs Inc.（Body Labs公司）
Human motion modelling is a classical problem at the intersection of graphics and computer vision, with applications spanning human-computer interaction, motion synthesis, and motion prediction for virtual and augmented reality. Following the success of deep learning methods in several computer vision tasks, recent work has focused on using deep recurrent neural networks (RNNs) to model human motion, with the goal of learning time-dependent representations that perform tasks such as short-term motion prediction and long-term human motion synthesis. We examine recent work, with a focus on the e…
We present a novel generative model for human motion modeling using Generative Adversarial Networks (GANs). We formulate the GAN discriminator using dense validation at each time-scale and perturb the discriminator input to make it translation invariant. Our model is capable of motion generation and completion. We show through our evaluations the resiliency to noise, generalization over actions, and generation of long diverse sequences. We evaluate our approach on Human 3.6M and CMU motion capture datasets using inception scores.
In recent years, motion capture technology using computers has developed rapidly. Because of its high efficiency and excellent performance, it replaces many traditional methods and is being widely used in many fields. Our project is about street scene video human motion capturing and analysis. The primary goal of the project is to capture the human motion in a video and use the motion information for 3D animation (human) in real-time. We applied a neural network for motion capture and implement it in the unity under a street view scene. By analyzing the motion data, we will have a better estim…
The Chinese University of Hong Kong（香港中文大学）；Nanyang Technological University（南洋理工大学）；Centre of Perceptual and Interactive Intelligence（感知与交互智能研究中心）
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 leaving the location movement behind, and ignoring the impact of the environment on the human motion. In this paper, we propose a new framework, with the interaction between the scene and the human motion taken into account. Considering the uncertainty of human motion, we formulate this task as a generative task, whose objective is to generate plausible hum…
University of Fukui（福井大学）；Niigata University（新潟大学）
Generative model-based motion prediction techniques have recently realized predicting controlled human motions, such as predicting multiple upper human body motions with similar lower-body motions. However, to achieve this, the state-of-the-art methods require either subsequently learning mapping functions to seek similar motions or training the model repetitively to enable control over the desired portion of body. In this paper, we propose a novel framework to learn disentangled representations for controllable human motion prediction. Our network involves a conditional variational auto-encod…
Beijing University of Posts and Telecommunications（北京邮电大学）；China Telecom（中国电信）
In spite of the great progress in human motion prediction, it is still a challenging task to predict those aperiodic and complicated motions. We believe that to capture the correlations among human body components is the key to understand the human motion. In this paper, we propose a novel multiscale graph convolution network (MGCN) to address this problem. Firstly, we design an adaptive multiscale interactional encoding module (MIEM) which is composed of two sub modules: scale transformation module and scale interaction module to learn the human body correlations. Secondly, we apply a coarse-…
Global human motion forecasting is important in many fields, which is the combination of global human trajectory prediction and local human pose prediction. Visual and social information are often used to boost model performance, however, they may consume too much computational resource. In this paper, we establish a simple but effective baseline for single human motion forecasting without visual and social information, equipped with useful training tricks. Our method "futuremotion_ICCV21" outperforms existing methods by a large margin on SoMoF benchmark. We hope our work provide new ideas for…
Human motion synthesis is a long-standing problem with various applications in digital twins and the Metaverse. However, modern deep learning based motion synthesis approaches barely consider the physical plausibility of synthesized motions and consequently they usually produce unrealistic human motions. In order to solve this problem, we propose a system ``Skeleton2Humanoid'' which performs physics-oriented motion correction at test time by regularizing synthesized skeleton motions in a physics simulator. Concretely, our system consists of three sequential stages: (I) test time motion synthes…
Human motion modeling is important for many modern graphics applications, which typically require professional skills. In order to remove the skill barriers for laymen, recent motion generation methods can directly generate human motions conditioned on natural languages. However, it remains challenging to achieve diverse and fine-grained motion generation with various text inputs. To address this problem, we propose MotionDiffuse, the first diffusion model-based text-driven motion generation framework, which demonstrates several desired properties over existing methods. 1) Probabilistic Mappin…
Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robots
Fujian Key Laboratory of Urban Intelligent Sensing and Computing, Xiamen University（福建城市智能感知与计算重点实验室，厦门大学）；Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, School of Informatics, Xiamen University（多媒体可信感知与高效计算重点实验室，中华人民共和国教育部，信息学院，厦门大学）；National Institute for Data Science in Health and Medicine, Xiamen University（医学数据科学国家研究院，厦门大学）；OPPO Research Institute（OPPO研究院）；ShanghaiTech University（上海科技大学）
CSIRO Data61（澳大利亚联邦科学与工业研究组织数据61研究所）；Queensland University of Technology（昆士兰科技大学）
We introduce a synthetic dataset for evaluating non-rigid 3D human reconstruction based on conventional RGB-D cameras. The dataset consist of seven motion sequences of a single human model. For each motion sequence per-frame ground truth geometry and ground truth skeleton are given. The dataset also contains skinning weights of the human model. More information about the dataset can be found at: https://research.csiro.au/robotics/our-work/databases/synthetic-human-model-dataset/
3D human motion prediction, predicting future poses from a given sequence, is an issue of great significance and challenge in computer vision and machine intelligence, which can help machines in understanding human behaviors. Due to the increasing development and understanding of Deep Neural Networks (DNNs) and the availability of large-scale human motion datasets, the human motion prediction has been remarkably advanced with a surge of interest among academia and industrial community. In this context, a comprehensive survey on 3D human motion prediction is conducted for the purpose of retrosp…
Sitcom-Crafter: A Plot-Driven Human Motion Generation System in 3D Scenes
Beihang University（北京航空航天大学）；The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳））；University of Technology Sydney（悉尼科技大学）；UiT the Arctic University of Norway（挪威北极大学）；Sun Yat-sen University（中山大学）
Australian National University（澳大利亚国立大学）；EPFL（洛桑联邦理工学院）；ClearSpace
Human motion prediction aims to forecast future human poses given a historical motion. Whether based on recurrent or feed-forward neural networks, existing learning based methods fail to model the observation that human motion tends to repeat itself, even for complex sports actions and cooking activities. Here, we introduce an attention based feed-forward network that explicitly leverages this observation. In particular, instead of modeling frame-wise attention via pose similarity, we propose to extract motion attention to capture the similarity between the current motion context and the histo…
Beijing University of Posts and Telecommunications（北京邮电大学）
Human motion prediction is an essential part for human-robot collaboration. Unlike most of the existing methods mainly focusing on improving the effectiveness of spatiotemporal modeling for accurate prediction, we take effectiveness and efficiency into consideration, aiming at the prediction quality, computational efficiency and the lightweight of the model. A multi-grained trajectory graph convolutional networks based and lightweight framework is proposed for habit-unrelated human motion prediction. Specifically, we represent human motion as multi-grained trajectories, including joint traject…
Shanghai Jiao Tong University（上海交通大学）；SenseTime Research（商汤科技研究院）；East China Normal University（华东师范大学）
Prior plays an important role in providing the plausible constraint on human motion. Previous works design motion priors following a variety of paradigms under different circumstances, leading to the lack of versatility. In this paper, we first summarize the indispensable properties of the motion prior, and accordingly, design a framework to learn the versatile motion prior, which models the inherent probability distribution of human motions. Specifically, for efficient prior representation learning, we propose a global orientation normalization to remove redundant environment information in t…
Australian National University（澳大利亚国立大学）；EPFL（洛桑联邦理工学院）；ClearSpace
In this paper, we tackle the task of scene-aware 3D human motion forecasting, which consists of predicting future human poses given a 3D scene and a past human motion. A key challenge of this task is to ensure consistency between the human and the scene, accounting for human-scene interactions. Previous attempts to do so model such interactions only implicitly, and thus tend to produce artifacts such as "ghost motion" because of the lack of explicit constraints between the local poses and the global motion. Here, by contrast, we propose to explicitly model the human-scene contacts. To this end…
Vision based human motion recognition has fascinated many researchers due to its critical challenges and a variety of applications. The applications range from simple gesture recognition to complicated behaviour understanding in surveillance system. This leads to major development in the techniques related to human motion representation and recognition. This paper discusses applications, general framework of human motion recognition, and the details of each of its components. The paper emphasizes on human motion representation and the recognition methods along with their advantages and disadva…
University of Fukui（福井大学）；Jiangsu University（江苏大学）
Human motion prediction, which plays a key role in computer vision, generally requires a past motion sequence as input. However, in real applications, a complete and correct past motion sequence can be too expensive to achieve. In this paper, we propose a novel approach to predicting future human motions from a much weaker condition, i.e., a single image, with mixture density networks (MDN) modeling. Contrary to most existing deep human motion prediction approaches, the multimodal nature of MDN enables the generation of diverse future motion hypotheses, which well compensates for the strong st…
Due to the visual ambiguity, purely kinematic formulations on monocular human motion capture are often physically incorrect, biomechanically implausible, and can not reconstruct accurate interactions. In this work, we focus on exploiting the high-precision and non-differentiable physics simulator to incorporate dynamical constraints in motion capture. Our key-idea is to use real physical supervisions to train a target pose distribution prior for sampling-based motion control to capture physically plausible human motion. To obtain accurate reference motion with terrain interactions for the samp…
We propose a method to reconstruct global human trajectories from videos in the wild. Our optimization method decouples the camera and human motion, which allows us to place people in the same world coordinate frame. Most existing methods do not model the camera motion; methods that rely on the background pixels to infer 3D human motion usually require a full scene reconstruction, which is often not possible for in-the-wild videos. However, even when existing SLAM systems cannot recover accurate scene reconstructions, the background pixel motion still provides enough signal to constrain the ca…
