Forecasting human motion of multiple persons is very challenging. It requires to model the interactions between humans and the interactions with objects and the environment. For example, a person might want to make a coffee, but if the coffee machine is already occupied the person will have to wait. These complex relations between scene geometry and persons arise constantly in our daily lives, and models that wish to accurately forecast human behavior will have to take them into consideration. To facilitate research in this direction, we propose Humans in Kitchens, a large-scale multi-person human motion dataset with annotated 3D human poses, scene geometry and activities per person and frame. Our dataset consists of over 7.3h recorded data of up to 16 persons at the same time in four kitchen scenes, with more than 4M annotated human poses, represented by a parametric 3D body model. In addition, dynamic scene geometry and objects like chair or cupboard are annotated per frame. As first benchmarks, we propose two protocols for short-term and long-term human motion forecasting.

Diverse human motion prediction (HMP) is a fundamental application in computer vision that has recently attracted considerable interest. Prior methods primarily focus on the stochastic nature of human motion, while neglecting the specific impact of external environment, leading to the pronounced artifacts in prediction when applied to real-world scenarios. To fill this gap, this work introduces a novel task: predicting diverse human motion within real-world 3D scenes. In contrast to prior works, it requires harmonizing the deterministic constraints imposed by the surrounding 3D scenes with the stochastic aspect of human motion. For this purpose, we propose DiMoP3D, a diverse motion prediction framework with 3D scene awareness, which leverages the 3D point cloud and observed sequence to generate diverse and high-fidelity predictions. DiMoP3D is able to comprehend the 3D scene, and determines the probable target objects and their desired interactive pose based on the historical motion. Then, it plans the obstacle-free trajectory towards these interested objects, and generates diverse and physically-consistent future motions. On top of that, DiMoP3D identifies deterministic factors in the scene and integrates them into the stochastic modeling, making the diverse HMP in realistic scenes become a controllable stochastic generation process. On two real-captured benchmarks, DiMoP3D has demonstrated significant improvements over state-of-the-art methods, showcasing its effectiveness in generating diverse and physically-consistent motion predictions within real-world 3D environments.

Li Zhang (lizhangfd@fudan.edu.cn) is the corresponding author. Previous methods, as depicted in (a), use only one mode query for each trajectory.