mlsanityData to 7 Oct 2026

Synthesizing Long-Term 3D Human Motion and Interaction in 3D Scenes

arXiv 2012.05522 ↗First posted 10 Dec 2020cs.CVcited by 135

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Abstract (arXiv)

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 present a hierarchical generative framework to synthesize long-term 3D human motion conditioning on the 3D scene structure. Building on this framework, we further enforce multiple geometry constraints between the human mesh and scene point clouds via optimization to improve realistic synthesis. Our experiments show significant improvements over previous approaches on generating natural and physically plausible human motion in a scene.

Key facts. Cited by 135 papers in the map (data through 7 Oct 2026). First posted on arXiv 10 Dec 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 9; 2022: 18; 2023: 33; 2024: 43; 2025: 27; 2026: 5.

135 papers.

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  1. 2022OpenScene: 3D Scene Understanding with Open Vocabulariescited by 556
  2. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  3. 2023Guided Motion Diffusion for Controllable Human Motion Synthesiscited by 221
  4. 2023Object Motion Guided Human Motion Synthesiscited by 206
  5. 2021Stochastic Scene-Aware Motion Predictioncited by 203
  6. 2023InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusioncited by 181
  7. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  8. 2022HUMANISE: Language-conditioned Human Motion Generation in 3D Scenescited by 156
  9. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 142
  10. 2023CG-HOI: Contact-Guided 3D Human-Object Interaction Generationcited by 137
  11. 2024Scaling Up Dynamic Human-Scene Interaction Modelingcited by 137
  12. 2022COUCH: Towards Controllable Human-Chair Interactionscited by 134
38 more
  1. 2024PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AIcited by 116
  2. 2022Joint Hand Motion and Interaction Hotspots Prediction from Egocentric Videoscited by 110
  3. 2023Synthesizing Diverse Human Motions in 3D Indoor Scenescited by 109
  4. 2023Controllable Human-Object Interaction Synthesiscited by 107
  5. 2023Synthesizing Physical Character-Scene Interactionscited by 102
  6. 2023Optimizing Diffusion Noise Can Serve As Universal Motion Priorscited by 97
  7. 2023Human Motion Generation: A Surveycited by 95
  8. 2022Ego-Body Pose Estimation via Ego-Head Pose Estimationcited by 93
  9. 2022Towards Diverse and Natural Scene-aware 3D Human Motion Synthesiscited by 91
  10. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 89
  11. 2024Multi-Track Timeline Control for Text-Driven 3D Human Motion Generationcited by 88
  12. 2022Compositional Human-Scene Interaction Synthesis with Semantic Controlcited by 82
  13. 2022GIMO: Gaze-Informed Human Motion Prediction in Contextcited by 81
  14. 2024Generating Human Interaction Motions in Scenes with Text Controlcited by 80
  15. 2024Move as You Say, Interact as You Can: Language-guided Human Motion Generation with Scene Affordancecited by 79
  16. 2023NIFTY: Neural Object Interaction Fields for Guided Human Motion Synthesiscited by 78
  17. 2024Seamless Human Motion Composition with Blended Positional Encodingscited by 77
  18. 2022Full-Body Articulated Human-Object Interactioncited by 76
  19. 2025InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactionscited by 67
  20. 2021Multi-Person 3D Motion Prediction with Multi-Range Transformerscited by 63
  21. 2024InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interactioncited by 63
  22. 2024Human-Object Interaction from Human-Level Instructionscited by 62
  23. 2021The Wanderings of Odysseus in 3D Scenescited by 59
  24. 2024Autonomous Character-Scene Interaction Synthesis from Text Instructioncited by 56
  25. 2023CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesiscited by 54
  26. 2024ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactionscited by 54
  27. 2023Putting People in Their Place: Affordance-Aware Human Insertion into Scenescited by 53
  28. 2024ReGenNet: Towards Human Action-Reaction Synthesiscited by 53
  29. 2023Locomotion-Action-Manipulation: Synthesizing Human-Scene Interactions in Complex 3D Environmentscited by 51
  30. 2024Generating Human Motion in 3D Scenes from Text Descriptionscited by 49
  31. 2023Synthesizing Physically Plausible Human Motions in 3D Scenescited by 47
  32. 2025TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenizationcited by 46
  33. 2022MultiAct: Long-Term 3D Human Motion Generation from Multiple Action Labelscited by 45
  34. 2023Hierarchical Generation of Human-Object Interactions with Diffusion Probabilistic Modelscited by 43
  35. 2023Task-Oriented Human-Object Interactions Generation with Implicit Neural Representationscited by 41
  36. 2023Generating Continual Human Motion in Diverse 3D Scenescited by 39
  37. 2023PMP: Learning to Physically Interact with Environments using Part-wise Motion Priorscited by 38
  38. 2024LaserHuman: Language-guided Scene-aware Human Motion Generation in Free Environmentcited by 33

50 most cited of 135 All 135 (JSON)