# BEDLAM2.0: Synthetic Humans and Cameras in Motion

arXiv: https://arxiv.org/abs/2511.14394 · HTML: https://mlsanity.com/paper/2511.14394/

## Key facts

- Cited by 25 papers in the map (data through 14 Oct 2026).
- Builds on 50 of its 68 references that are in the map.
- First posted on arXiv 18 Nov 2025.

## Builds on (most cited first, 30 of 50)

- [Expressive Body Capture: 3D Hands, Face, and Body from a Single Image](https://mlsanity.com/paper/1904.05866/) (2019)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items](https://mlsanity.com/paper/2204.11918/) (2022)
- [Monocular 3D Human Pose Estimation In The Wild Using Improved CNN Supervision](https://mlsanity.com/paper/1611.09813/) (2016)
- [MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motion](https://mlsanity.com/paper/2410.03825/) (2024)
- [Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation](https://mlsanity.com/paper/2404.15506/) (2024)
- [Learning from Synthetic Humans](https://mlsanity.com/paper/1701.01370/) (2017)
- [Humans in 4D: Reconstructing and Tracking Humans with Transformers](https://mlsanity.com/paper/2305.20091/) (2023)
- [ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation](https://mlsanity.com/paper/2204.13662/) (2022)
- [BEDLAM: A Synthetic Dataset of Bodies Exhibiting Detailed Lifelike Animated Motion](https://mlsanity.com/paper/2306.16940/) (2023)
- [WHAM: Reconstructing World-grounded Humans with Accurate 3D Motion](https://mlsanity.com/paper/2312.07531/) (2023)
- [AGORA: Avatars in Geography Optimized for Regression Analysis](https://mlsanity.com/paper/2104.14643/) (2021)
- [Fake It Till You Make It: Face analysis in the wild using synthetic data alone](https://mlsanity.com/paper/2109.15102/) (2021)
- [Deep Patch Visual Odometry](https://mlsanity.com/paper/2208.04726/) (2022)
- [Capturing and Inferring Dense Full-Body Human-Scene Contact](https://mlsanity.com/paper/2206.09553/) (2022)
- [SMPLer-X: Scaling Up Expressive Human Pose and Shape Estimation](https://mlsanity.com/paper/2309.17448/) (2023)
- [GLAMR: Global Occlusion-Aware Human Mesh Recovery with Dynamic Cameras](https://mlsanity.com/paper/2112.01524/) (2021)
- [Decoupling Human and Camera Motion from Videos in the Wild](https://mlsanity.com/paper/2302.12827/) (2023)
- [World-Grounded Human Motion Recovery via Gravity-View Coordinates](https://mlsanity.com/paper/2409.06662/) (2024)
- [BCNet: Learning Body and Cloth Shape from A Single Image](https://mlsanity.com/paper/2004.00214/) (2020)
- [TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videos](https://mlsanity.com/paper/2403.17346/) (2024)
- [EMAGE: Towards Unified Holistic Co-Speech Gesture Generation via Expressive Masked Audio Gesture Modeling](https://mlsanity.com/paper/2401.00374/) (2023)
- [3D Human Pose Estimation via Intuitive Physics](https://mlsanity.com/paper/2303.18246/) (2023)
- [EMDB: The Electromagnetic Database of Global 3D Human Pose and Shape in the Wild](https://mlsanity.com/paper/2308.16894/) (2023)
- [TRACE: 5D Temporal Regression of Avatars with Dynamic Cameras in 3D Environments](https://mlsanity.com/paper/2306.02850/) (2023)
- [Synthetic Training for Accurate 3D Human Pose and Shape Estimation in the Wild](https://mlsanity.com/paper/2009.10013/) (2020)
- [xR-EgoPose: Egocentric 3D Human Pose from an HMD Camera](https://mlsanity.com/paper/1907.10045/) (2019)
- [HOOD: Hierarchical Graphs for Generalized Modelling of Clothing Dynamics](https://mlsanity.com/paper/2212.07242/) (2022)

## Built on by (most cited first, 25 of 25)

- [Any4D: Unified Feed-Forward Metric 4D Reconstruction](https://mlsanity.com/paper/2512.10935/) (2025)
- [CoMoVi: Co-Generation of 3D Human Motions and Realistic Videos](https://mlsanity.com/paper/2601.10632/) (2026)
- [Self-Improving 4D Perception via Self-Distillation](https://mlsanity.com/paper/2604.08532/) (2026)
- [Syn4D: A Multiview Synthetic 4D Dataset](https://mlsanity.com/paper/2605.05207/) (2026)
- [ETCH-X: Robustify Expressive Body Fitting to Clothed Humans with Composable Datasets](https://mlsanity.com/paper/2604.08548/) (2026)
- [GRAFT: Geometric Refinement and Fitting Transformer for Human Scene Reconstruction](https://mlsanity.com/paper/2604.19624/) (2026)
- [OmniFit: Multi-modal 3D Body Fitting via Scale-agnostic Dense Landmark Prediction](https://mlsanity.com/paper/2604.21575/) (2026)
- [WorldRover: A Scalable Synthetic Video Data Engine for World Exploration with Rich Annotations](https://mlsanity.com/paper/2608.15659/) (2026)
- [TAIHRI: Task-Aware 3D Human Keypoints Localization for Close-Range Human-Robot Interaction](https://mlsanity.com/paper/2604.08921/) (2026)
- [TAPVid-MV: A Benchmark for Tracking Any Point in 3D Across Multiple Views](https://mlsanity.com/paper/2609.01899/) (2026)
- [Point4D: Long-range 4D Motion Reconstruction](https://mlsanity.com/paper/2609.09145/) (2026)
- [UnrealPose: Leveraging Game Engine Kinematics for Large-Scale Synthetic Human Pose Data](https://mlsanity.com/paper/2601.00991/) (2026)
- [SesaHand: Enhancing 3D Hand Reconstruction via Controllable Generation with Semantic and Structural Alignment](https://mlsanity.com/paper/2603.00443/) (2026)
- [MV-Fashion: Towards Enabling Virtual Try-On and Size Estimation with Multi-View Paired Data](https://mlsanity.com/paper/2603.08147/) (2026)
- [PoseDreamer: Scalable and Photorealistic Human Data Generation Pipeline with Diffusion Models](https://mlsanity.com/paper/2603.28763/) (2026)
- [Human Pose Estimation in Trampoline Gymnastics: How to Improve Performance on Extreme Poses](https://mlsanity.com/paper/2604.01322/) (2026)
- [BAT3R: Bootstrapping Articulated 3D Reconstruction from 2D Image Collections](https://mlsanity.com/paper/2607.03891/) (2026)
- [mmSimPrior: Learning Simulation Priors for Data-Efficient and Generalizable Real-World Radar-based Human Motion Reconstruction](https://mlsanity.com/paper/2607.22973/) (2026)
- [WeLike2Party! In-Context Motion Transfer for Multi-Human Image Animation](https://mlsanity.com/paper/2609.36937/) (2026)
- [ORMA: Optimization-based Monocular 4D Reconstruction of Articulated Animals](https://mlsanity.com/paper/2609.37986/) (2026)
- [PACT: End-to-End Learning of Human Pose, Contacts, and Forces from Video](https://mlsanity.com/paper/2610.00451/) (2026)
- [FlowHMR: Physically Plausible Motion Capture from Video](https://mlsanity.com/paper/2610.03691/) (2026)
- [Gen Through the Lens: Camera-Controllable Video Generation via Cross-Coordinate Conditioning Fusion](https://mlsanity.com/paper/2610.15900/) (2026)
- [A Diagnostic Study of World-Space Human Recovery Under High Camera Dynamics](https://mlsanity.com/paper/2610.19729/) (2026)
- [DreamHMR: From Video Generation to Human Motion Modeling via Structural Focusing](https://mlsanity.com/paper/2610.20124/) (2026)

## Abstract (arXiv)

Inferring 3D human motion from video remains a challenging problem with many applications. While traditional methods estimate the human in image coordinates, many applications require human motion to be estimated in world coordinates. This is particularly challenging when there is both human and camera motion. Progress on this topic has been limited by the lack of rich video data with ground truth human and camera movement. We address this with BEDLAM2.0, a new dataset that goes beyond the popular BEDLAM dataset in important ways. In addition to introducing more diverse and realistic cameras and camera motions, BEDLAM2.0 increases diversity and realism of body shape, motions, clothing, hair, and 3D environments. Additionally, it adds shoes, which were missing in BEDLAM. BEDLAM has become a key resource for training 3D human pose and motion regressors today and we show that BEDLAM2.0 is significantly better, particularly for training methods that estimate humans in world coordinates. We compare state-of-the art methods trained on BEDLAM and BEDLAM2.0, and find that BEDLAM2.0 significantly improves accuracy over BEDLAM. For research purposes, we provide the rendered videos, ground truth body parameters, and camera motions. We also provide the 3D assets to which we have rights and links to those from third parties.