# Context-aware Human Motion Prediction

## TL;DR

This paper introduces a novel context-aware human motion prediction model that incorporates interactions with objects and other humans using a semantic graph and graph attention, outperforming traditional RNN-based methods.

## Contribution

The paper presents a new architecture combining semantic graphs and RNNs for context-aware human motion prediction, explicitly modeling interactions with objects and humans.

## Key findings

- Outperforms baseline models without context information.
- Effectively models human-object and human-human interactions.
- Improves prediction accuracy in complex scenarios.

## Abstract

The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate this problem as a sequence-to-sequence task, in which a historical of 3D skeletons feeds a Recurrent Neural Network (RNN) that predicts future movements, typically in the order of 1 to 2 seconds. However, one aspect that has been obviated so far, is the fact that human motion is inherently driven by interactions with objects and/or other humans in the environment. In this paper, we explore this scenario using a novel context-aware motion prediction architecture. We use a semantic-graph model where the nodes parameterize the human and objects in the scene and the edges their mutual interactions. These interactions are iteratively learned through a graph attention layer, fed with the past observations, which now include both object and human body motions. Once this semantic graph is learned, we inject it to a standard RNN to predict future movements of the human/s and object/s. We consider two variants of our architecture, either freezing the contextual interactions in the future of updating them. A thorough evaluation in the "Whole-Body Human Motion Database" shows that in both cases, our context-aware networks clearly outperform baselines in which the context information is not considered.