mlsanityData to 7 Oct 2026

Learning to Sit: Synthesizing Human-Chair Interactions via Hierarchical Control

arXiv 1908.07423 ↗First posted 20 Aug 2019cs.CVcited by 39

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Abstract (arXiv)

Recent progress on physics-based character animation has shown impressive breakthroughs on human motion synthesis, through imitating motion capture data via deep reinforcement learning. However, results have mostly been demonstrated on imitating a single distinct motion pattern, and do not generalize to interactive tasks that require flexible motion patterns due to varying human-object spatial configurations. To bridge this gap, we focus on one class of interactive tasks -- sitting onto a chair. We propose a hierarchical reinforcement learning framework which relies on a collection of subtask controllers trained to imitate simple, reusable mocap motions, and a meta controller trained to execute the subtasks properly to complete the main task. We experimentally demonstrate the strength of our approach over different non-hierarchical and hierarchical baselines. We also show that our approach can be applied to motion prediction given an image input. A supplementary video can be found at https://youtu.be/3CeN0OGz2cA.

Key facts. Cited by 39 papers in the map (data through 7 Oct 2026). First posted on arXiv 20 Aug 2019.

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Citing papers per year: 2021: 6; 2022: 2; 2023: 10; 2024: 11; 2025: 7; 2026: 3.

39 papers.

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  1. 2023Object Motion Guided Human Motion Synthesiscited by 206
  2. 2021Stochastic Scene-Aware Motion Predictioncited by 203
  3. 2023InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusioncited by 181
  4. 2022HUMANISE: Language-conditioned Human Motion Generation in 3D Scenescited by 156
  5. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 142
  6. 2022COUCH: Towards Controllable Human-Chair Interactionscited by 134
  7. 2023Synthesizing Physical Character-Scene Interactionscited by 102
  8. 2021Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimationcited by 101
  9. 2021From Motor Control to Team Play in Simulated Humanoid Footballcited by 87
  10. 2024Generating Human Interaction Motions in Scenes with Text Controlcited by 80
  11. 2024Move as You Say, Interact as You Can: Language-guided Human Motion Generation with Scene Affordancecited by 79
  12. 2023NIFTY: Neural Object Interaction Fields for Guided Human Motion Synthesiscited by 78
27 more
  1. 2025InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactionscited by 67
  2. 2024InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interactioncited by 63
  3. 2023ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulationcited by 53
  4. 2023Physically Plausible Full-Body Hand-Object Interaction Synthesiscited by 52
  5. 2023Locomotion-Action-Manipulation: Synthesizing Human-Scene Interactions in Complex 3D Environmentscited by 51
  6. 2024Generating Human Motion in 3D Scenes from Text Descriptionscited by 49
  7. 2023Synthesizing Physically Plausible Human Motions in 3D Scenescited by 47
  8. 2024THOR: Text to Human-Object Interaction Diffusion via Relation Interventioncited by 46
  9. 2025TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenizationcited by 46
  10. 2023Hierarchical Generation of Human-Object Interactions with Diffusion Probabilistic Modelscited by 43
  11. 2024CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamicscited by 43
  12. 2025InterAct: Advancing Large-Scale Versatile 3D Human-Object Interaction Generationcited by 31
  13. 2023GRIP: Generating Interaction Poses Using Spatial Cues and Latent Consistencycited by 26
  14. 2024ReinDiffuse: Crafting Physically Plausible Motions with Reinforced Diffusion Modelcited by 25
  15. 2021Pose2Room: Understanding 3D Scenes from Human Activitiescited by 22
  16. 2021BodyPressure -- Inferring Body Pose and Contact Pressure from a Depth Imagecited by 20
  17. 2024TriDi: Trilateral Diffusion of 3D Humans, Objects, and Interactionscited by 18
  18. 2024Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimickingcited by 14
  19. 2025Human-Object Interaction via Automatically Designed VLM-Guided Motion Policycited by 10
  20. 2026InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactionscited by 10
  21. 2024FORCE: Physics-aware Human-object Interactioncited by 7
  22. 20253D Human Interaction Generation: A Surveycited by 6
  23. 2026TeamHOI: Learning a Unified Policy for Cooperative Human-Object Interactions with Any Team Sizecited by 4
  24. 2024COLLAGE: Collaborative Human-Agent Interaction Generation using Hierarchical Latent Diffusion and Language Modelscited by 2
  25. 2025Navigating Motion Agents in Dynamic and Cluttered Environments through LLM Reasoningcited by 2
  26. 2025CRISP: Contact-Guided Real2Sim from Monocular Video with Planar Scene Primitivescited by 0
  27. 2026Policy-Induced Hand Priors in Humanoid Dual-Arm Manipulation: Diagnosing and Mitigating Initial-Pose Dependencecited by 0