# Human-Aware 3D Scene Generation with Spatially-constrained Diffusion Models

arXiv: https://arxiv.org/abs/2406.18159 · HTML: https://mlsanity.com/paper/2406.18159/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Placed in 3D, point cloud and scene generation, one of 14 directions in Diffusion models.
- Builds on 27 of its 38 references that are in the map.
- First posted on arXiv 26 Jun 2024.

## Placed in

- Diffusion models / [3D, point cloud and scene generation](https://mlsanity.com/diffusion/3d-point-cloud-and-scene-generation/)

## Builds on (most cited first, 27 of 27)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domains](https://mlsanity.com/paper/2006.10739/) (2020)
- [Imagic: Text-Based Real Image Editing with Diffusion Models](https://mlsanity.com/paper/2210.09276/) (2022)
- [3D-FUTURE: 3D Furniture shape with TextURE](https://mlsanity.com/paper/2009.09633/) (2020)
- [Resolving 3D Human Pose Ambiguities with 3D Scene Constraints](https://mlsanity.com/paper/1908.06963/) (2019)
- [Diffusion-based Generation, Optimization, and Planning in 3D Scenes](https://mlsanity.com/paper/2301.06015/) (2023)
- [Guided Motion Diffusion for Controllable Human Motion Synthesis](https://mlsanity.com/paper/2305.12577/) (2023)
- [ATISS: Autoregressive Transformers for Indoor Scene Synthesis](https://mlsanity.com/paper/2110.03675/) (2021)
- [SceneFormer: Indoor Scene Generation with Transformers](https://mlsanity.com/paper/2012.09793/) (2020)
- [Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion](https://mlsanity.com/paper/2304.01893/) (2023)
- [IoU Loss for 2D/3D Object Detection](https://mlsanity.com/paper/1908.03851/) (2019)
- [PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AI](https://mlsanity.com/paper/2404.09465/) (2024)
- [Human-centric Indoor Scene Synthesis Using Stochastic Grammar](https://mlsanity.com/paper/1808.08473/) (2018)
- [Deep Generative Modeling for Scene Synthesis via Hybrid Representations](https://mlsanity.com/paper/1808.02084/) (2018)
- [MIME: Human-Aware 3D Scene Generation](https://mlsanity.com/paper/2212.04360/) (2022)
- [SceneGraphNet: Neural Message Passing for 3D Indoor Scene Augmentation](https://mlsanity.com/paper/1907.11308/) (2019)
- [End-to-End Optimization of Scene Layout](https://mlsanity.com/paper/2007.11744/) (2020)
- [SceneHGN: Hierarchical Graph Networks for 3D Indoor Scene Generation with Fine-Grained Geometry](https://mlsanity.com/paper/2302.10237/) (2023)
- [Pose2Room: Understanding 3D Scenes from Human Activities](https://mlsanity.com/paper/2112.03030/) (2021)
- [Advances in Data-Driven Analysis and Synthesis of 3D Indoor Scenes](https://mlsanity.com/paper/2304.03188/) (2023)
- [CLIP-Layout: Style-Consistent Indoor Scene Synthesis with Semantic Furniture Embedding](https://mlsanity.com/paper/2303.03565/) (2023)
- [Contact-aware Human Motion Generation from Textual Descriptions](https://mlsanity.com/paper/2403.15709/) (2024)
- [Learning Human Mesh Recovery in 3D Scenes](https://mlsanity.com/paper/2306.03847/) (2023)
- [Fast 3D Indoor Scene Synthesis with Discrete and Exact Layout Pattern Extraction](https://mlsanity.com/paper/2002.00328/) (2020)

## Built on by (most cited first, 5 of 5)

- [DIFFVSGG: Diffusion-Driven Online Video Scene Graph Generation](https://mlsanity.com/paper/2503.13957/) (2025)
- [AccioScene: Compositional 3D Scene Generation via Graph Diffusion and Interaction-driven Critics](https://mlsanity.com/paper/2502.06819/) (2025)
- [CasLayout: Cascaded 3D Layout Diffusion for Indoor Scene Synthesis with Implicit Relation Modeling](https://mlsanity.com/paper/2604.27361/) (2026)
- [HierRelTriple: Guiding Indoor Layout Generation with Hierarchical Relationship Triplet Losses](https://mlsanity.com/paper/2503.20289/) (2025)
- [SceneTeract: Probing and Improving Agent-Aware Activity Reasoning in 3D Indoor Scenes](https://mlsanity.com/paper/2603.29798/) (2026)

## Abstract (arXiv)

Generating 3D scenes from human motion sequences supports numerous applications, including virtual reality and architectural design. However, previous auto-regression-based human-aware 3D scene generation methods have struggled to accurately capture the joint distribution of multiple objects and input humans, often resulting in overlapping object generation in the same space. To address this limitation, we explore the potential of diffusion models that simultaneously consider all input humans and the floor plan to generate plausible 3D scenes. Our approach not only satisfies all input human interactions but also adheres to spatial constraints with the floor plan. Furthermore, we introduce two spatial collision guidance mechanisms: human-object collision avoidance and object-room boundary constraints. These mechanisms help avoid generating scenes that conflict with human motions while respecting layout constraints. To enhance the diversity and accuracy of human-guided scene generation, we have developed an automated pipeline that improves the variety and plausibility of human-object interactions in the existing 3D FRONT HUMAN dataset. Extensive experiments on both synthetic and real-world datasets demonstrate that our framework can generate more natural and plausible 3D scenes with precise human-scene interactions, while significantly reducing human-object collisions compared to previous state-of-the-art methods. Our code and data will be made publicly available upon publication of this work.