CHOICE: Coordinated Human-Object Interaction in Cluttered Environments for Pick-and-Place Actions

TL;DR

This paper presents CHOICE, a hierarchical system combining planning and control methods to generate realistic, goal-driven human-object interactions in cluttered environments for pick-and-place tasks.

Contribution

It introduces a novel hierarchical framework with a bimanual scheduler, neural implicit planner, and a dynamic control model for realistic interaction synthesis.

Findings

System produces natural pick-and-place movements across diverse scenarios.

Effective handling of complex object geometries and cluttered layouts.

Improved realism and flexibility in human-object interaction animation.

Abstract

Animating human-scene interactions such as pick-and-place tasks in cluttered, complex layouts is a challenging task, with objects of a wide variation of geometries and articulation under scenarios with various obstacles. The main difficulty lies in the sparsity of the motion data compared to the wide variation of the objects and environments as well as the poor availability of transition motions between different tasks, increasing the complexity of the generalization to arbitrary conditions. To cope with this issue, we develop a system that tackles the interaction synthesis problem as a hierarchical goal-driven task. Firstly, we develop a bimanual scheduler that plans a set of keyframes for simultaneously controlling the two hands to efficiently achieve the pick-and-place task from an abstract goal signal such as the target object selected by the user. Next, we develop a neural implicit planner that generates guidance hand trajectories under diverse object shape/types and obstacle layouts. Finally, we propose a linear dynamic model for our DeepPhase controller that incorporates a Kalman filter to enable smooth transitions in the frequency domain, resulting in a more realistic and effective multi-objective control of the character.Our system can produce a wide range of natural pick-and-place movements with respect to the geometry of objects, the articulation of containers and the layout of the objects in the scene.