Synthesizing Physically Plausible Human Motions in 3D Scenes

TL;DR

This paper introduces a physics-based framework for synthesizing realistic human motions in complex 3D scenes, enabling long-term interactions with multiple objects through decoupled control policies trained in simple environments.

Contribution

It proposes a novel divide-and-conquer approach with reusable controllers for interaction and navigation, allowing application in complex, cluttered scenes.

Findings

Controllers trained in simple environments generalize to complex scenes

Decoupled interaction and navigation improve motion realism

Framework supports long-term, multi-object human-scene interactions

Abstract

We present a physics-based character control framework for synthesizing human-scene interactions. Recent advances adopt physics simulation to mitigate artifacts produced by data-driven kinematic approaches. However, existing physics-based methods mainly focus on single-object environments, resulting in limited applicability in realistic 3D scenes with multi-objects. To address such challenges, we propose a framework that enables physically simulated characters to perform long-term interaction tasks in diverse, cluttered, and unseen 3D scenes. The key idea is to decouple human-scene interactions into two fundamental processes, Interacting and Navigating, which motivates us to construct two reusable Controllers, namely InterCon and NavCon. Specifically, InterCon uses two complementary policies to enable characters to enter or leave the interacting state with a particular object (e.g., sitting on a chair or getting up). To realize navigation in cluttered environments, we introduce NavCon, where a trajectory following policy enables characters to track pre-planned collision-free paths. Benefiting from the divide and conquer strategy, we can train all policies in simple environments and directly apply them in complex multi-object scenes through coordination from a rule-based scheduler. Video and code are available at https://github.com/liangpan99/InterScene.