mlsanityData to 7 Oct 2026

HybrIK-X: Hybrid Analytical-Neural Inverse Kinematics for Whole-body Mesh Recovery

arXiv 2304.05690 ↗First posted 12 Apr 2023cs.CVcited by 48

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Abstract (arXiv)

Recovering whole-body mesh by inferring the abstract pose and shape parameters from visual content can obtain 3D bodies with realistic structures. However, the inferring process is highly non-linear and suffers from image-mesh misalignment, resulting in inaccurate reconstruction. In contrast, 3D keypoint estimation methods utilize the volumetric representation to achieve pixel-level accuracy but may predict unrealistic body structures. To address these issues, this paper presents a novel hybrid inverse kinematics solution, HybrIK, that integrates the merits of 3D keypoint estimation and body mesh recovery in a unified framework. HybrIK directly transforms accurate 3D joints to body-part rotations via twist-and-swing decomposition. The swing rotations are analytically solved with 3D joints, while the twist rotations are derived from visual cues through neural networks. To capture comprehensive whole-body details, we further develop a holistic framework, HybrIK-X, which enhances HybrIK with articulated hands and an expressive face. HybrIK-X is fast and accurate by solving the whole-body pose with a one-stage model. Experiments demonstrate that HybrIK and HybrIK-X preserve both the accuracy of 3D joints and the realistic structure of the parametric human model, leading to pixel-aligned whole-body mesh recovery. The proposed method significantly surpasses the state-of-the-art methods on various benchmarks for body-only, hand-only, and whole-body scenarios. Code and results can be found at https://jeffli.site/HybrIK-X/

Key facts. Cited by 48 papers in the map (data through 7 Oct 2026). Builds on 85 of its 127 references that are in the map. First posted on arXiv 12 Apr 2023.

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85 of 127 references.

References · 85

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38 more
  1. 2020Learning an Animatable Detailed 3D Face Model from In-The-Wild Imagescited by 475
  2. 2020End-to-End Human Pose and Mesh Reconstruction with Transformerscited by 417
  3. 2017A simple yet effective baseline for 3d human pose estimationcited by 401
  4. 2019Learning joint reconstruction of hands and manipulated objectscited by 377
  5. 2021PARE: Part Attention Regressor for 3D Human Body Estimationcited by 334
  6. 2020HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimationcited by 304
  7. 2020I2L-MeshNet: Image-to-Lixel Prediction Network for Accurate 3D Human Pose and Mesh Estimation from a Single RGB Imagecited by 274
  8. 2019FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Imagescited by 271
  9. 2019Convolutional Mesh Regression for Single-Image Human Shape Reconstructioncited by 270
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  11. 2021PyMAF: 3D Human Pose and Shape Regression with Pyramidal Mesh Alignment Feedback Loopcited by 250
  12. 2020Pose2Mesh: Graph Convolutional Network for 3D Human Pose and Mesh Recovery from a 2D Human Posecited by 248
  13. 2020InterHand2.6M: A Dataset and Baseline for 3D Interacting Hand Pose Estimation from a Single RGB Imagecited by 244
  14. 2018Total Capture: A 3D Deformation Model for Tracking Faces, Hands, and Bodiescited by 239
  15. 2022CLIFF: Carrying Location Information in Full Frames into Human Pose and Shape Estimationcited by 237
  16. 2018Learning to Estimate 3D Human Pose and Shape from a Single Color Imagecited by 226
  17. 2016Coarse-to-Fine Volumetric Prediction for Single-Image 3D Human Posecited by 220
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  25. 2018Neural Body Fitting: Unifying Deep Learning and Model-Based Human Pose and Shape Estimationcited by 185
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 6; 2024: 19; 2025: 16; 2026: 7.

48 papers.

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  1. 2023SMPLer-X: Scaling Up Expressive Human Pose and Shape Estimationcited by 154
  2. 2024Expressive Whole-Body 3D Gaussian Avatarcited by 89
  3. 2024Neural Localizer Fields for Continuous 3D Human Pose and Shape Estimationcited by 57
  4. 2024StableMoFusion: Towards Robust and Efficient Diffusion-based Motion Generation Frameworkcited by 48
  5. 2023Digital Life Project: Autonomous 3D Characters with Social Intelligencecited by 43
  6. 2024AiOS: All-in-One-Stage Expressive Human Pose and Shape Estimationcited by 41
  7. 2024CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangementcited by 40
  8. 2025Human3R: Everyone Everywhere All at Oncecited by 35
  9. 2025SMPLest-X: Ultimate Scaling for Expressive Human Pose and Shape Estimationcited by 31
  10. 2024WHAC: World-grounded Humans and Camerascited by 29
  11. 2024Look Ma, no markers: holistic performance capture without the hasslecited by 23
  12. 2024GVA: Reconstructing Vivid 3D Gaussian Avatars from Monocular Videoscited by 22
36 more
  1. 2025Towards Immersive Human-X Interaction: A Real-Time Framework for Physically Plausible Motion Synthesiscited by 20
  2. 2025Learning Dense Hand Contact Estimation from Imbalanced Datacited by 12
  3. 2023CHORD: Category-level Hand-held Object Reconstruction via Shape Deformationcited by 10
  4. 2024DICE: End-to-end Deformation Capture of Hand-Face Interactions from a Single Imagecited by 9
  5. 2024GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interactioncited by 7
  6. 2025EVA: Expressive Virtual Avatars from Multi-view Videoscited by 7
  7. 2024UPose3D: Uncertainty-Aware 3D Human Pose Estimation with Cross-View and Temporal Cuescited by 6
  8. 2025DiSRT-In-Bed: Diffusion-Based Sim-to-Real Transfer Framework for In-Bed Human Mesh Recoverycited by 6
  9. 2025ADHMR: Aligning Diffusion-based Human Mesh Recovery via Direct Preference Optimizationcited by 6
  10. 2025GenHSI: Controllable Generation of Human-Scene Interaction Videoscited by 6
  11. 2024ShapeBoost: Boosting Human Shape Estimation with Part-Based Parameterization and Clothing-Preserving Augmentationcited by 4
  12. 2024PADS: Plug-and-Play 3D Human Pose Analysis via Diffusion Generative Modelingcited by 3
  13. 2024WildAvatar: Learning In-the-wild 3D Avatars from the Webcited by 3
  14. 20253DV-TON: Textured 3D-Guided Consistent Video Try-on via Diffusion Modelscited by 3
  15. 2025PA-HOI: A Physics-Aware Human and Object Interaction Datasetcited by 3
  16. 2023UniHPE: Towards Unified Human Pose Estimation via Contrastive Learningcited by 2
  17. 2024Leveraging Anthropometric Measurements to Improve Human Mesh Estimation and Ensure Consistent Body Shapescited by 2
  18. 2025DiffCap: Diffusion-based Real-time Human Motion Capture using Sparse IMUs and a Monocular Cameracited by 2
  19. 2025Generative Modeling of Shape-Dependent Self-Contact Human Posescited by 2
  20. 2026HSImul3R: Physics-in-the-Loop Reconstruction of Simulation-Ready Human-Scene Interactionscited by 2
  21. 2024Kinematics-based 3D Human-Object Interaction Reconstruction from Single Viewcited by 1
  22. 2025UniHPR: Unified Human Pose Representation via Singular Value Contrastive Learningcited by 1
  23. 2026CIGPose: Causal Intervention Graph Neural Network for Whole-Body Pose Estimationcited by 1
  24. 2026InfiniteDance: Scalable 3D Dance Generation Towards in-the-wild Generalizationcited by 1
  25. 2026Puppeteer: Object-Grounded Posture-Aware Co-Speech Gesture Generationcited by 1
  26. 2023Temporal-Aware Refinement for Video-based Human Pose and Shape Recoverycited by 0
  27. 2023Monocular 3D Hand Mesh Recovery via Dual Noise Estimationcited by 0
  28. 2024RemoCap: Disentangled Representation Learning for Motion Capturecited by 0
  29. 2024Limitations of (Procrustes) Alignment in Assessing Multi-Person Human Pose and Shape Estimationcited by 0
  30. 2024ProGraph: Temporally-alignable Probability Guided Graph Topological Modeling for 3D Human Reconstructioncited by 0
  31. 2025VirtualFencer: Generating Fencing Bouts based on Strategies Extracted from In-the-Wild Videoscited by 0
  32. 2025Adaptive Framework for Ambient Intelligence in Rehabilitation Assistancecited by 0
  33. 2025On the Use of Hierarchical Vision Foundation Models for Low-Cost Human Mesh Recovery and Pose Estimationcited by 0
  34. 2026Enhancing Hands in 3D Whole-Body Pose Estimation with Conditional Hands Modulatorcited by 0
  35. 2026ResiHMR: Residual-Limb Aware Single-Image 3D Human Mesh Recovery for Individuals with Limb Losscited by 0
  36. 2026B'ezier Degradation Modeling for LiDAR-based Human Motion Capturecited by 0