Daily Papers

Imitation learning from human demonstrations offers a promising approach for robot skill acquisition, but egocentric human data introduces fundamental challenges due to the embodiment gap. During manipulation, humans actively coordinate head and hand movements, continuously reposition their viewpoint and use pre-action visual fixation search strategies to locate relevant objects. These behaviors create dynamic, task-driven head motions that static robot sensing systems cannot replicate, leading to a significant distribution shift that degrades policy performance. We present EgoMI (Egocentric Manipulation Interface), a framework that captures synchronized end-effector and active head trajectories during manipulation tasks, resulting in data that can be retargeted to compatible semi-humanoid robot embodiments. To handle rapid and wide-spanning head viewpoint changes, we introduce a memory-augmented policy that selectively incorporates historical observations. We evaluate our approach on a bimanual robot equipped with an actuated camera head and find that policies with explicit head-motion modeling consistently outperform baseline methods. Results suggest that coordinated hand-eye learning with EgoMI effectively bridges the human-robot embodiment gap for robust imitation learning on semi-humanoid embodiments. Project page: https://egocentric-manipulation-interface.github.io

Human demonstrations, which can be collected at scale and naturally capture active hand-eye coordination, are a promising data source for learning humanoid loco-manipulation. However, directly transferring human demonstrations to humanoids requires a precise world-frame tracking controller, which is often brittle under Out-of-Distribution(OOD) targets, while human-to-humanoid gaps persist in both egocentric observation and action execution. To address these challenges, we present HALOMI, a scalable framework for learning humanoid loco-manipulation with active perception from human demonstrations. HALOMI extends Universal Manipulation Interface (UMI) with egocentric sensing to collect ego-view and wrist-view observations along with head-hand trajectories at scale. We further propose a manifold-constrained controller that plans in a learned latent behavior manifold to enable precise and robust head-hand tracking in the world frame. To bridge the human-to-humanoid gap, we perform ego-view alignment and introduce a controller-aware reference trajectory adaptation to reduce mismatch in both observation and action execution. We validate HALOMI on a Unitree G1 humanoid robot with an actuated neck across five real-world tasks involving navigation, grasping, bimanual manipulation, whole-body coordination, and dynamic behaviors. Across the three quantitatively evaluated tasks, HALOMI achieves an average success rate of 85\%, while additional qualitative demonstrations show its ability to support dynamic tossing and deep-squat grasping.

Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases operator burden and limits scalability, but also makes it difficult to capture the naturally coordinated perception-manipulation behaviors of human daily interaction. This challenge calls for a more natural system that can faithfully capture human manipulation and perception behaviors while enabling zero-shot transfer to robotic platforms. We introduce ActiveGlasses, a system for learning robot manipulation from ego-centric human demonstrations with active vision. A stereo camera mounted on smart glasses serves as the sole perception device for both data collection and policy inference: the operator wears it during bare-hand demonstrations, and the same camera is mounted on a 6-DoF perception arm during deployment to reproduce human active vision. To enable zero-transfer, we extract object trajectories from demonstrations and use an object-centric point-cloud policy to jointly predict manipulation and head movement. Across several challenging tasks involving occlusion and precise interaction, ActiveGlasses achieves zero-shot transfer with active vision, consistently outperforms strong baselines under the same hardware setup, and generalizes across two robot platforms.

The ability to predict collision-free future trajectories from egocentric observations is crucial in applications such as humanoid robotics, VR / AR, and assistive navigation. In this work, we introduce the challenging problem of predicting a sequence of future 6D head poses from an egocentric video. In particular, we predict both head translations and rotations to learn the active information-gathering behavior expressed through head-turning events. To solve this task, we propose a framework that reasons over temporally aggregated 3D latent features, which models the geometric and semantic constraints for both the static and dynamic parts of the environment. Motivated by the lack of training data in this space, we further contribute a data collection pipeline using the Project Aria glasses, and present a dataset collected through this approach. Our dataset, dubbed Aria Navigation Dataset (AND), consists of 4 hours of recording of users navigating in real-world scenarios. It includes diverse situations and navigation behaviors, providing a valuable resource for learning real-world egocentric navigation policies. Extensive experiments show that our model learns human-like navigation behaviors such as waiting / slowing down, rerouting, and looking around for traffic while generalizing to unseen environments. Check out our project webpage at https://sites.google.com/stanford.edu/lookout.

We present ActiveUMI, a framework for a data collection system that transfers in-the-wild human demonstrations to robots capable of complex bimanual manipulation. ActiveUMI couples a portable VR teleoperation kit with sensorized controllers that mirror the robot's end-effectors, bridging human-robot kinematics via precise pose alignment. To ensure mobility and data quality, we introduce several key techniques, including immersive 3D model rendering, a self-contained wearable computer, and efficient calibration methods. ActiveUMI's defining feature is its capture of active, egocentric perception. By recording an operator's deliberate head movements via a head-mounted display, our system learns the crucial link between visual attention and manipulation. We evaluate ActiveUMI on six challenging bimanual tasks. Policies trained exclusively on ActiveUMI data achieve an average success rate of 70\% on in-distribution tasks and demonstrate strong generalization, retaining a 56\% success rate when tested on novel objects and in new environments. Our results demonstrate that portable data collection systems, when coupled with learned active perception, provide an effective and scalable pathway toward creating generalizable and highly capable real-world robot policies.

User profiling and region analysis are two tasks of significant commercial value. However, in practical applications, modeling different features typically involves four main steps: data preparation, data processing, model establishment, evaluation, and optimization. This process is time-consuming and labor-intensive. Repeating this workflow for each feature results in abundant development time for tasks and a reduced overall volume of task development. Indeed, human mobility data contains a wealth of information. Several successful cases suggest that conducting in-depth analysis of population movement data could potentially yield meaningful profiles about users and areas. Nonetheless, most related works have not thoroughly utilized the semantic information within human mobility data and trained on a fixed number of the regions. To tap into the rich information within population movement, based on the perspective that Regions Are Who walk them, we propose a large spatiotemporal model based on trajectories (RAW). It possesses the following characteristics: 1) Tailored for trajectory data, introducing a GPT-like structure with a parameter count of up to 1B; 2) Introducing a spatiotemporal fine-tuning module, interpreting trajectories as collection of users to derive arbitrary region embedding. This framework allows rapid task development based on the large spatiotemporal model. We conducted extensive experiments to validate the effectiveness of our proposed large spatiotemporal model. It's evident that our proposed method, relying solely on human mobility data without additional features, exhibits a certain level of relevance in user profiling and region analysis. Moreover, our model showcases promising predictive capabilities in trajectory generation tasks based on the current state, offering the potential for further innovative work utilizing this large spatiotemporal model.

Despite the widespread adoption of Virtual Reality (VR) technology, cybersickness remains a barrier for some users. This research investigates head movement patterns as a novel physiological marker for cybersickness detection. Unlike traditional markers, head movements provide a continuous, non-invasive measure that can be easily captured through the sensors embedded in all commercial VR headsets. We used a publicly available dataset from a VR experiment involving 75 participants and analyzed head movements across six axes. An extensive feature extraction process was then performed on the head movement dataset and its derivatives, including velocity, acceleration, and jerk. Three categories of features were extracted, encompassing statistical, temporal, and spectral features. Subsequently, we employed the Recursive Feature Elimination method to select the most important and effective features. In a series of experiments, we trained a variety of machine learning algorithms. The results demonstrate a 76% accuracy and 83% precision in predicting cybersickness in the subjects based on the head movements. This study contribution to the cybersickness literature lies in offering a preliminary analysis of a new source of data and providing insight into the relationship of head movements and cybersickness.

To the best of our knowledge, we first present a live system that generates personalized photorealistic talking-head animation only driven by audio signals at over 30 fps. Our system contains three stages. The first stage is a deep neural network that extracts deep audio features along with a manifold projection to project the features to the target person's speech space. In the second stage, we learn facial dynamics and motions from the projected audio features. The predicted motions include head poses and upper body motions, where the former is generated by an autoregressive probabilistic model which models the head pose distribution of the target person. Upper body motions are deduced from head poses. In the final stage, we generate conditional feature maps from previous predictions and send them with a candidate image set to an image-to-image translation network to synthesize photorealistic renderings. Our method generalizes well to wild audio and successfully synthesizes high-fidelity personalized facial details, e.g., wrinkles, teeth. Our method also allows explicit control of head poses. Extensive qualitative and quantitative evaluations, along with user studies, demonstrate the superiority of our method over state-of-the-art techniques.

Humans can predict future human trajectories even from momentary observations by using human pose-related cues. However, previous Human Trajectory Prediction (HTP) methods leverage the pose cues implicitly, resulting in implausible predictions. To address this, we propose Locomotion Embodiment, a framework that explicitly evaluates the physical plausibility of the predicted trajectory by locomotion generation under the laws of physics. While the plausibility of locomotion is learned with an indifferentiable physics simulator, it is replaced by our differentiable Locomotion Value function to train an HTP network in a data-driven manner. In particular, our proposed Embodied Locomotion loss is beneficial for efficiently training a stochastic HTP network using multiple heads. Furthermore, the Locomotion Value filter is proposed to filter out implausible trajectories at inference. Experiments demonstrate that our method enhances even the state-of-the-art HTP methods across diverse datasets and problem settings. Our code is available at: https://github.com/ImIntheMiddle/EmLoco.

Accurate prediction of future person location and movement trajectory from an egocentric wearable camera can benefit a wide range of applications, such as assisting visually impaired people in navigation, and the development of mobility assistance for people with disability. In this work, a new egocentric dataset was constructed using a wearable camera, with 8,250 short clips of a targeted person either walking 1) toward, 2) away, or 3) across the camera wearer in indoor environments, or 4) staying still in the scene, and 13,817 person bounding boxes were manually labelled. Apart from the bounding boxes, the dataset also contains the estimated pose of the targeted person as well as the IMU signal of the wearable camera at each time point. An LSTM-based encoder-decoder framework was designed to predict the future location and movement trajectory of the targeted person in this egocentric setting. Extensive experiments have been conducted on the new dataset, and have shown that the proposed method is able to reliably and better predict future person location and trajectory in egocentric videos captured by the wearable camera compared to three baselines.

A transhumeral prosthesis restores missing anatomical segments below the shoulder, including the hand. Active prostheses utilize real-valued, continuous sensor data to recognize patient target poses, or goals, and proactively move the artificial limb. Previous studies have examined how well the data collected in stationary poses, without considering the time steps, can help discriminate the goals. In this case study paper, we focus on using time series data from surface electromyography electrodes and kinematic sensors to sequentially recognize patients' goals. Our approach involves transforming the data into discrete events and training an existing process mining-based goal recognition system. Results from data collected in a virtual reality setting with ten subjects demonstrate the effectiveness of our proposed goal recognition approach, which achieves significantly better precision and recall than the state-of-the-art machine learning techniques and is less confident when wrong, which is beneficial when approximating smoother movements of prostheses.

We introduce FaceTalk, a novel generative approach designed for synthesizing high-fidelity 3D motion sequences of talking human heads from input audio signal. To capture the expressive, detailed nature of human heads, including hair, ears, and finer-scale eye movements, we propose to couple speech signal with the latent space of neural parametric head models to create high-fidelity, temporally coherent motion sequences. We propose a new latent diffusion model for this task, operating in the expression space of neural parametric head models, to synthesize audio-driven realistic head sequences. In the absence of a dataset with corresponding NPHM expressions to audio, we optimize for these correspondences to produce a dataset of temporally-optimized NPHM expressions fit to audio-video recordings of people talking. To the best of our knowledge, this is the first work to propose a generative approach for realistic and high-quality motion synthesis of volumetric human heads, representing a significant advancement in the field of audio-driven 3D animation. Notably, our approach stands out in its ability to generate plausible motion sequences that can produce high-fidelity head animation coupled with the NPHM shape space. Our experimental results substantiate the effectiveness of FaceTalk, consistently achieving superior and visually natural motion, encompassing diverse facial expressions and styles, outperforming existing methods by 75% in perceptual user study evaluation.

This paper addresses the problem of anticipating the next-active-object location in the future, for a given egocentric video clip where the contact might happen, before any action takes place. The problem is considerably hard, as we aim at estimating the position of such objects in a scenario where the observed clip and the action segment are separated by the so-called ``time to contact'' (TTC) segment. Many methods have been proposed to anticipate the action of a person based on previous hand movements and interactions with the surroundings. However, there have been no attempts to investigate the next possible interactable object, and its future location with respect to the first-person's motion and the field-of-view drift during the TTC window. We define this as the task of Anticipating the Next ACTive Object (ANACTO). To this end, we propose a transformer-based self-attention framework to identify and locate the next-active-object in an egocentric clip. We benchmark our method on three datasets: EpicKitchens-100, EGTEA+ and Ego4D. We also provide annotations for the first two datasets. Our approach performs best compared to relevant baseline methods. We also conduct ablation studies to understand the effectiveness of the proposed and baseline methods on varying conditions. Code and ANACTO task annotations will be made available upon paper acceptance.

We present Vision in Action (ViA), an active perception system for bimanual robot manipulation. ViA learns task-relevant active perceptual strategies (e.g., searching, tracking, and focusing) directly from human demonstrations. On the hardware side, ViA employs a simple yet effective 6-DoF robotic neck to enable flexible, human-like head movements. To capture human active perception strategies, we design a VR-based teleoperation interface that creates a shared observation space between the robot and the human operator. To mitigate VR motion sickness caused by latency in the robot's physical movements, the interface uses an intermediate 3D scene representation, enabling real-time view rendering on the operator side while asynchronously updating the scene with the robot's latest observations. Together, these design elements enable the learning of robust visuomotor policies for three complex, multi-stage bimanual manipulation tasks involving visual occlusions, significantly outperforming baseline systems.

Designing activity detection systems that can be successfully deployed in daily-living environments requires datasets that pose the challenges typical of real-world scenarios. In this paper, we introduce a new untrimmed daily-living dataset that features several real-world challenges: Toyota Smarthome Untrimmed (TSU). TSU contains a wide variety of activities performed in a spontaneous manner. The dataset contains dense annotations including elementary, composite activities and activities involving interactions with objects. We provide an analysis of the real-world challenges featured by our dataset, highlighting the open issues for detection algorithms. We show that current state-of-the-art methods fail to achieve satisfactory performance on the TSU dataset. Therefore, we propose a new baseline method for activity detection to tackle the novel challenges provided by our dataset. This method leverages one modality (i.e. optic flow) to generate the attention weights to guide another modality (i.e RGB) to better detect the activity boundaries. This is particularly beneficial to detect activities characterized by high temporal variance. We show that the method we propose outperforms state-of-the-art methods on TSU and on another popular challenging dataset, Charades.

In this work, we introduce the first autoregressive framework for real-time, audio-driven portrait animation, a.k.a, talking head. Beyond the challenge of lengthy animation times, a critical challenge in realistic talking head generation lies in preserving the natural movement of diverse body parts. To this end, we propose Teller, the first streaming audio-driven protrait animation framework with autoregressive motion generation. Specifically, Teller first decomposes facial and body detail animation into two components: Facial Motion Latent Generation (FMLG) based on an autoregressive transfromer, and movement authenticity refinement using a Efficient Temporal Module (ETM).Concretely, FMLG employs a Residual VQ model to map the facial motion latent from the implicit keypoint-based model into discrete motion tokens, which are then temporally sliced with audio embeddings. This enables the AR tranformer to learn real-time, stream-based mappings from audio to motion. Furthermore, Teller incorporate ETM to capture finer motion details. This module ensures the physical consistency of body parts and accessories, such as neck muscles and earrings, improving the realism of these movements. Teller is designed to be efficient, surpassing the inference speed of diffusion-based models (Hallo 20.93s vs. Teller 0.92s for one second video generation), and achieves a real-time streaming performance of up to 25 FPS. Extensive experiments demonstrate that our method outperforms recent audio-driven portrait animation models, especially in small movements, as validated by human evaluations with a significant margin in quality and realism.

The field of trajectory forecasting has grown significantly in recent years, partially owing to the release of numerous large-scale, real-world human trajectory datasets for autonomous vehicles (AVs) and pedestrian motion tracking. While such datasets have been a boon for the community, they each use custom and unique data formats and APIs, making it cumbersome for researchers to train and evaluate methods across multiple datasets. To remedy this, we present trajdata: a unified interface to multiple human trajectory datasets. At its core, trajdata provides a simple, uniform, and efficient representation and API for trajectory and map data. As a demonstration of its capabilities, in this work we conduct a comprehensive empirical evaluation of existing trajectory datasets, providing users with a rich understanding of the data underpinning much of current pedestrian and AV motion forecasting research, and proposing suggestions for future datasets from these insights. trajdata is permissively licensed (Apache 2.0) and can be accessed online at https://github.com/NVlabs/trajdata

In this paper, we address the problem of human trajectory forecasting, which aims to predict the inherently multi-modal future movements of humans based on their past trajectories and other contextual cues. We propose a novel motion prediction conditional flow matching model, termed MoFlow, to predict K-shot future trajectories for all agents in a given scene. We design a novel flow matching loss function that not only ensures at least one of the K sets of future trajectories is accurate but also encourages all K sets of future trajectories to be diverse and plausible. Furthermore, by leveraging the implicit maximum likelihood estimation (IMLE), we propose a novel distillation method for flow models that only requires samples from the teacher model. Extensive experiments on the real-world datasets, including SportVU NBA games, ETH-UCY, and SDD, demonstrate that both our teacher flow model and the IMLE-distilled student model achieve state-of-the-art performance. These models can generate diverse trajectories that are physically and socially plausible. Moreover, our one-step student model is 100 times faster than the teacher flow model during sampling. The code, model, and data are available at our project page: https://moflow-imle.github.io

We focus on reconstructing high-fidelity radiance fields of human heads, capturing their animations over time, and synthesizing re-renderings from novel viewpoints at arbitrary time steps. To this end, we propose a new multi-view capture setup composed of 16 calibrated machine vision cameras that record time-synchronized images at 7.1 MP resolution and 73 frames per second. With our setup, we collect a new dataset of over 4700 high-resolution, high-framerate sequences of more than 220 human heads, from which we introduce a new human head reconstruction benchmark. The recorded sequences cover a wide range of facial dynamics, including head motions, natural expressions, emotions, and spoken language. In order to reconstruct high-fidelity human heads, we propose Dynamic Neural Radiance Fields using Hash Ensembles (NeRSemble). We represent scene dynamics by combining a deformation field and an ensemble of 3D multi-resolution hash encodings. The deformation field allows for precise modeling of simple scene movements, while the ensemble of hash encodings helps to represent complex dynamics. As a result, we obtain radiance field representations of human heads that capture motion over time and facilitate re-rendering of arbitrary novel viewpoints. In a series of experiments, we explore the design choices of our method and demonstrate that our approach outperforms state-of-the-art dynamic radiance field approaches by a significant margin.

Recent Vision-Language-Action models show potential to generalize across embodiments but struggle to quickly align with a new robot's action space when high-quality demonstrations are scarce, especially for bipedal humanoids. We present TrajBooster, a cross-embodiment framework that leverages abundant wheeled-humanoid data to boost bipedal VLA. Our key idea is to use end-effector trajectories as a morphology-agnostic interface. TrajBooster (i) extracts 6D dual-arm end-effector trajectories from real-world wheeled humanoids, (ii) retargets them in simulation to Unitree G1 with a whole-body controller trained via a heuristic-enhanced harmonized online DAgger to lift low-dimensional trajectory references into feasible high-dimensional whole-body actions, and (iii) forms heterogeneous triplets that couple source vision/language with target humanoid-compatible actions to post-pre-train a VLA, followed by only 10 minutes of teleoperation data collection on the target humanoid domain. Deployed on Unitree G1, our policy achieves beyond-tabletop household tasks, enabling squatting, cross-height manipulation, and coordinated whole-body motion with markedly improved robustness and generalization. Results show that TrajBooster allows existing wheeled-humanoid data to efficiently strengthen bipedal humanoid VLA performance, reducing reliance on costly same-embodiment data while enhancing action space understanding and zero-shot skill transfer capabilities. For more details, For more details, please refer to our https://jiachengliu3.github.io/TrajBooster/.

We envision a future time when wearable cameras are worn by the masses and recording first-person point-of-view videos of everyday life. While these cameras can enable new assistive technologies and novel research challenges, they also raise serious privacy concerns. For example, first-person videos passively recorded by wearable cameras will necessarily include anyone who comes into the view of a camera -- with or without consent. Motivated by these benefits and risks, we developed a self-search technique tailored to first-person videos. The key observation of our work is that the egocentric head motion of a target person (ie, the self) is observed both in the point-of-view video of the target and observer. The motion correlation between the target person's video and the observer's video can then be used to identify instances of the self uniquely. We incorporate this feature into the proposed approach that computes the motion correlation over densely-sampled trajectories to search for a target individual in observer videos. Our approach significantly improves self-search performance over several well-known face detectors and recognizers. Furthermore, we show how our approach can enable several practical applications such as privacy filtering, target video retrieval, and social group clustering.

In this work, we propose a training-free, trajectory-based controllable T2I approach, termed TraDiffusion. This novel method allows users to effortlessly guide image generation via mouse trajectories. To achieve precise control, we design a distance awareness energy function to effectively guide latent variables, ensuring that the focus of generation is within the areas defined by the trajectory. The energy function encompasses a control function to draw the generation closer to the specified trajectory and a movement function to diminish activity in areas distant from the trajectory. Through extensive experiments and qualitative assessments on the COCO dataset, the results reveal that TraDiffusion facilitates simpler, more natural image control. Moreover, it showcases the ability to manipulate salient regions, attributes, and relationships within the generated images, alongside visual input based on arbitrary or enhanced trajectories.

Humans are highly adaptable, swiftly switching between different modes to progressively handle different tasks, situations and contexts. In Human-object interaction (HOI) activities, these modes can be attributed to two mechanisms: (1) the large-scale consistent plan for the whole activity and (2) the small-scale children interactive actions that start and end along the timeline. While neuroscience and cognitive science have confirmed this multi-mechanism nature of human behavior, machine modeling approaches for human motion are trailing behind. While attempted to use gradually morphing structures (e.g., graph attention networks) to model the dynamic HOI patterns, they miss the expeditious and discrete mode-switching nature of the human motion. To bridge that gap, this work proposes to model two concurrent mechanisms that jointly control human motion: the Persistent process that runs continually on the global scale, and the Transient sub-processes that operate intermittently on the local context of the human while interacting with objects. These two mechanisms form an interactive Persistent-Transient Duality that synergistically governs the activity sequences. We model this conceptual duality by a parent-child neural network of Persistent and Transient channels with a dedicated neural module for dynamic mechanism switching. The framework is trialed on HOI motion forecasting. On two rich datasets and a wide variety of settings, the model consistently delivers superior performances, proving its suitability for the challenge.

Audio-driven talking head generation has drawn much attention in recent years, and many efforts have been made in lip-sync, expressive facial expressions, natural head pose generation, and high video quality. However, no model has yet led or tied on all these metrics due to the one-to-many mapping between audio and motion. In this paper, we propose VividTalk, a two-stage generic framework that supports generating high-visual quality talking head videos with all the above properties. Specifically, in the first stage, we map the audio to mesh by learning two motions, including non-rigid expression motion and rigid head motion. For expression motion, both blendshape and vertex are adopted as the intermediate representation to maximize the representation ability of the model. For natural head motion, a novel learnable head pose codebook with a two-phase training mechanism is proposed. In the second stage, we proposed a dual branch motion-vae and a generator to transform the meshes into dense motion and synthesize high-quality video frame-by-frame. Extensive experiments show that the proposed VividTalk can generate high-visual quality talking head videos with lip-sync and realistic enhanced by a large margin, and outperforms previous state-of-the-art works in objective and subjective comparisons.

This paper addresses the task of counting human actions of interest using sensor data from wearable devices. We propose a novel exemplar-based framework, allowing users to provide exemplars of the actions they want to count by vocalizing predefined sounds ''one'', ''two'', and ''three''. Our method first localizes temporal positions of these utterances from the audio sequence. These positions serve as the basis for identifying exemplars representing the action class of interest. A similarity map is then computed between the exemplars and the entire sensor data sequence, which is further fed into a density estimation module to generate a sequence of estimated density values. Summing these density values provides the final count. To develop and evaluate our approach, we introduce a diverse and realistic dataset consisting of real-world data from 37 subjects and 50 action categories, encompassing both sensor and audio data. The experiments on this dataset demonstrate the viability of the proposed method in counting instances of actions from new classes and subjects that were not part of the training data. On average, the discrepancy between the predicted count and the ground truth value is 7.47, significantly lower than the errors of the frequency-based and transformer-based methods. Our project, code and dataset can be found at https://github.com/cvlab-stonybrook/ExRAC.

We present a lightweight and affordable motion capture method based on two smartwatches and a head-mounted camera. In contrast to the existing approaches that use six or more expert-level IMU devices, our approach is much more cost-effective and convenient. Our method can make wearable motion capture accessible to everyone everywhere, enabling 3D full-body motion capture in diverse environments. As a key idea to overcome the extreme sparsity and ambiguities of sensor inputs, we integrate 6D head poses obtained from the head-mounted cameras for motion estimation. To enable capture in expansive indoor and outdoor scenes, we propose an algorithm to track and update floor level changes to define head poses, coupled with a multi-stage Transformer-based regression module. We also introduce novel strategies leveraging visual cues of egocentric images to further enhance the motion capture quality while reducing ambiguities. We demonstrate the performance of our method on various challenging scenarios, including complex outdoor environments and everyday motions including object interactions and social interactions among multiple individuals.

Classification of movement trajectories has many applications in transportation. Supervised neural models represent the current state-of-the-art. Recent security applications require this task to be rapidly employed in environments that may differ from the data used to train such models for which there is little training data. We provide a neuro-symbolic rule-based framework to conduct error correction and detection of these models to support eventual deployment in security applications. We provide a suite of experiments on several recent and state-of-the-art models and show an accuracy improvement of 1.7% over the SOTA model in the case where all classes are present in training and when 40% of classes are omitted from training, we obtain a 5.2% improvement (zero-shot) and 23.9% (few-shot) improvement over the SOTA model without resorting to retraining of the base model.

This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human motions are repetitive and consist of a few major modes (e.g., standing, walking, or turning). Our algorithm regresses a velocity vector from the history of linear accelerations and angular velocities, then corrects low-frequency bias in the linear accelerations, which are integrated twice to estimate positions. We have acquired training data with ground-truth motions across multiple human subjects and multiple phone placements (e.g., in a bag or a hand). The qualitatively and quantitatively evaluations have demonstrated that our algorithm has surprisingly shown comparable results to full Visual Inertial navigation. To our knowledge, this paper is the first to integrate sophisticated machine learning techniques with inertial navigation, potentially opening up a new line of research in the domain of data-driven inertial navigation. We will publicly share our code and data to facilitate further research.

Human mobility plays a crucial role in transportation, urban planning, and public health. Advances in deep learning and the availability of diverse mobility data have transformed mobility modeling. However, existing deep learning models often focus on spatio-temporal patterns and struggle to capture the semantic interdependencies among activities, while also being limited by specific data sources. These challenges reduce their realism and adaptability. Traditional activity-based models (ABMs) face issues as well, relying on rigid assumptions and requiring extensive data, making them costly and difficult to adapt to new regions, especially those with limited conventional travel data. To address these limitations, we develop a novel generative deep learning approach for human mobility modeling and synthesis that incorporates both activity patterns and location trajectories using open-source data. The model can be fine-tuned with local data, allowing it to adapt to and accurately represent mobility patterns across diverse regions. The model is evaluated on a nationwide dataset of the United States, where it demonstrates superior performance in generating activity-location chains that closely follow ground truth distributions. Further tests using state- or city-specific datasets from California, Washington, and Mexico City confirm its transferability. This innovative approach offers substantial potential to advance mobility modeling research, particularly in generating synthetic human mobility data. This can provide urban planners and policymakers with enhanced tools for simulating mobility in diverse regions and better informing decisions related to transportation, urban development, and public health.

The integration of manipulator robots in household environments suggests a need for more predictable and human-like robot motion. This holds especially true for wheelchair-mounted assistive robots that can support the independence of people with paralysis. One method of generating naturalistic motion trajectories is via the imitation of human demonstrators. This paper explores a self-supervised imitation learning method using an autoregressive spatio-temporal graph neural network for an assistive drinking task. We address learning from diverse human motion trajectory data that were captured via wearable IMU sensors on a human arm as the action-free task demonstrations. Observed arm motion data from several participants is used to generate natural and functional drinking motion trajectories for a UR5e robot arm.

We introduce Nymeria - a large-scale, diverse, richly annotated human motion dataset collected in the wild with multiple multimodal egocentric devices. The dataset comes with a) full-body ground-truth motion; b) multiple multimodal egocentric data from Project Aria devices with videos, eye tracking, IMUs and etc; and c) a third-person perspective by an additional observer. All devices are precisely synchronized and localized in on metric 3D world. We derive hierarchical protocol to add in-context language descriptions of human motion, from fine-grain motion narration, to simplified atomic action and high-level activity summarization. To the best of our knowledge, Nymeria dataset is the world's largest collection of human motion in the wild; first of its kind to provide synchronized and localized multi-device multimodal egocentric data; and the world's largest motion-language dataset. It provides 300 hours of daily activities from 264 participants across 50 locations, total travelling distance over 399Km. The language descriptions contain 301.5K sentences in 8.64M words from a vocabulary size of 6545. To demonstrate the potential of the dataset, we evaluate several SOTA algorithms for egocentric body tracking, motion synthesis, and action recognition. Data and code are open-sourced for research (c.f. https://www.projectaria.com/datasets/nymeria).

Significant advancements have been made in developing parametric models for digital humans, with various approaches concentrating on parts such as the human body, hand, or face. Nevertheless, connectors such as the neck have been overlooked in these models, with rich anatomical priors often unutilized. In this paper, we introduce HACK (Head-And-neCK), a novel parametric model for constructing the head and cervical region of digital humans. Our model seeks to disentangle the full spectrum of neck and larynx motions, facial expressions, and appearance variations, providing personalized and anatomically consistent controls, particularly for the neck regions. To build our HACK model, we acquire a comprehensive multi-modal dataset of the head and neck under various facial expressions. We employ a 3D ultrasound imaging scheme to extract the inner biomechanical structures, namely the precise 3D rotation information of the seven vertebrae of the cervical spine. We then adopt a multi-view photometric approach to capture the geometry and physically-based textures of diverse subjects, who exhibit a diverse range of static expressions as well as sequential head-and-neck movements. Using the multi-modal dataset, we train the parametric HACK model by separating the 3D head and neck depiction into various shape, pose, expression, and larynx blendshapes from the neutral expression and the rest skeletal pose. We adopt an anatomically-consistent skeletal design for the cervical region, and the expression is linked to facial action units for artist-friendly controls. HACK addresses the head and neck as a unified entity, offering more accurate and expressive controls, with a new level of realism, particularly for the neck regions. This approach has significant benefits for numerous applications and enables inter-correlation analysis between head and neck for fine-grained motion synthesis and transfer.

Existing activity tracker datasets for human activity recognition are typically obtained by having participants perform predefined activities in an enclosed environment under supervision. This results in small datasets with a limited number of activities and heterogeneity, lacking the mixed and nuanced movements normally found in free-living scenarios. As such, models trained on laboratory-style datasets may not generalise out of sample. To address this problem, we introduce a new dataset involving wrist-worn accelerometers, wearable cameras, and sleep diaries, enabling data collection for over 24 hours in a free-living setting. The result is CAPTURE-24, a large activity tracker dataset collected in the wild from 151 participants, amounting to 3883 hours of accelerometer data, of which 2562 hours are annotated. CAPTURE-24 is two to three orders of magnitude larger than existing publicly available datasets, which is critical to developing accurate human activity recognition models.

Predicting the trajectories of road agents is essential for autonomous driving systems. The recent mainstream methods follow a static paradigm, which predicts the future trajectory by using a fixed duration of historical frames. These methods make the predictions independently even at adjacent time steps, which leads to potential instability and temporal inconsistency. As successive time steps have largely overlapping historical frames, their forecasting should have intrinsic correlation, such as overlapping predicted trajectories should be consistent, or be different but share the same motion goal depending on the road situation. Motivated by this, in this work, we introduce HPNet, a novel dynamic trajectory forecasting method. Aiming for stable and accurate trajectory forecasting, our method leverages not only historical frames including maps and agent states, but also historical predictions. Specifically, we newly design a Historical Prediction Attention module to automatically encode the dynamic relationship between successive predictions. Besides, it also extends the attention range beyond the currently visible window benefitting from the use of historical predictions. The proposed Historical Prediction Attention together with the Agent Attention and Mode Attention is further formulated as the Triple Factorized Attention module, serving as the core design of HPNet.Experiments on the Argoverse and INTERACTION datasets show that HPNet achieves state-of-the-art performance, and generates accurate and stable future trajectories. Our code are available at https://github.com/XiaolongTang23/HPNet.

We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability of trajectories, which is normally only associated with rule-based systems. Our guided diffusion model allows users to constrain trajectories through target waypoints, speed, and specified social groups while accounting for the surrounding environment context. This trajectory diffusion model is integrated with a novel physics-based humanoid controller to form a closed-loop, full-body pedestrian animation system capable of placing large crowds in a simulated environment with varying terrains. We further propose utilizing the value function learned during RL training of the animation controller to guide diffusion to produce trajectories better suited for particular scenarios such as collision avoidance and traversing uneven terrain. Video results are available on the project page at https://nv-tlabs.github.io/trace-pace .

AR smart glasses need continuous behavioral context to offer proactive assistance, yet their most practical always-on sensor, the head-mounted Inertial Measurement Unit (IMU), detects only motion primitives such as walking or standing. We push beyond motion primitives to behavioral-level recognition, defining five categories that balance AR application need with sensor observability. To this end, we construct a 160K-sample Ego4D dataset with a four-tier quality assurance framework spanning 8 activity scenarios, and propose HiT-HAR, a 703K-parameter hierarchical model that outperforms prior head-mounted IMU models on five-class action and eight-class scenario recognition. We further map the observability frontier of head-mounted IMU through per-class separability analysis, identifying which behavioral categories are reliably observable (Locomotion), which benefit from temporal context (Object Transfer, Task Operation), and where scenario-dependent signal overlap poses remaining challenges. Our results indicate that architectural choices exploiting temporal context and scenario structure outperform simply scaling model size. The code and dataset are publicly available at https://github.com/Harvard-AI-and-Robotics-Lab/HiT-HAR.

Although the study of human trajectory anomalies is critical for advancing spatial data mining, empirical research remains severely hindered by a pervasive lack of ground-truth datasets. Despite the availability of several real-world and simulated human trajectory collections, these datasets exclusively capture normal mobility patterns and lack annotated anomalies. This specific scarcity is fundamentally driven by the inherent statistical rarity of anomalous events, precluding the feasibility of conventional observational methods. Compounding this challenge, the systematic acquisition of large-scale mobility data is strictly bottlenecked by prohibitive costs and stringent privacy regulations. To overcome these fundamental limitations and establish a reliable human trajectory anomalies dataset with annotated ground truth, we introduce a novel, end-to-end generative framework designed to synthesize realistic trajectory anomalies at scale. Our architecture bridges the gap between purely synthetic mobility data and complex real-world physical constraints by operating directly on baseline simulated trajectories. We employ Large Language Model (LLM) agents to systematically inject semantically meaningful behavioral anomalies such as irregular out-of-distribution check-ins and skipped routine visits. To ensure rigorous spatial validity, the system leverages map-constrained routing reconstruction to recalculate the physical transitions between these LLM agent-modified staypoints. Moreover, to narrow the simulation-to-reality gap, we augment the resulting trajectories with a context-aware spatial noise model, parameterized by environmental and location-specific variables, to accurately emulate heterogeneous GPS sensor degradation.

Human motion generation holds significant promise in fields such as animation, film production, and robotics. However, existing methods often fail to produce physically plausible movements that adhere to biomechanical principles. While recent autoregressive and diffusion models have improved visual quality, they frequently overlook essential biodynamic features, such as muscle activation patterns and joint coordination, leading to motions that either violate physical laws or lack controllability. This paper introduces BioMoDiffuse, a novel biomechanics-aware diffusion framework that addresses these limitations. It features three key innovations: (1) A lightweight biodynamic network that integrates muscle electromyography (EMG) signals and kinematic features with acceleration constraints, (2) A physics-guided diffusion process that incorporates real-time biomechanical verification via modified Euler-Lagrange equations, and (3) A decoupled control mechanism that allows independent regulation of motion speed and semantic context. We also propose a set of comprehensive evaluation protocols that combines traditional metrics (FID, R-precision, etc.) with new biomechanical criteria (smoothness, foot sliding, floating, etc.). Our approach bridges the gap between data-driven motion synthesis and biomechanical authenticity, establishing new benchmarks for physically accurate motion generation.

Motion trajectories offer reliable references for physics-based motion learning but suffer from sparsity, particularly in regions that lack sufficient data coverage. To address this challenge, we introduce a self-supervised, structured representation and generation method that extracts spatial-temporal relationships in periodic or quasi-periodic motions. The motion dynamics in a continuously parameterized latent space enable our method to enhance the interpolation and generalization capabilities of motion learning algorithms. The motion learning controller, informed by the motion parameterization, operates online tracking of a wide range of motions, including targets unseen during training. With a fallback mechanism, the controller dynamically adapts its tracking strategy and automatically resorts to safe action execution when a potentially risky target is proposed. By leveraging the identified spatial-temporal structure, our work opens new possibilities for future advancements in general motion representation and learning algorithms.

This paper presents a novel Kinematics and Trajectory Prior Knowledge-Enhanced Transformer (KTPFormer), which overcomes the weakness in existing transformer-based methods for 3D human pose estimation that the derivation of Q, K, V vectors in their self-attention mechanisms are all based on simple linear mapping. We propose two prior attention modules, namely Kinematics Prior Attention (KPA) and Trajectory Prior Attention (TPA) to take advantage of the known anatomical structure of the human body and motion trajectory information, to facilitate effective learning of global dependencies and features in the multi-head self-attention. KPA models kinematic relationships in the human body by constructing a topology of kinematics, while TPA builds a trajectory topology to learn the information of joint motion trajectory across frames. Yielding Q, K, V vectors with prior knowledge, the two modules enable KTPFormer to model both spatial and temporal correlations simultaneously. Extensive experiments on three benchmarks (Human3.6M, MPI-INF-3DHP and HumanEva) show that KTPFormer achieves superior performance in comparison to state-of-the-art methods. More importantly, our KPA and TPA modules have lightweight plug-and-play designs and can be integrated into various transformer-based networks (i.e., diffusion-based) to improve the performance with only a very small increase in the computational overhead. The code is available at: https://github.com/JihuaPeng/KTPFormer.

Modeling human-object interactions (HOI) from an egocentric perspective is a largely unexplored yet important problem due to the increasing adoption of wearable devices, such as smart glasses and watches. We investigate how much information about interaction can be recovered from only head and wrists tracking. Our answer is ECHO (Ego-Centric modeling of Human-Object interactions), which, for the first time, proposes a unified framework to recover three modalities: human pose, object motion, and contact from such minimal observation. ECHO employs a Diffusion Transformer architecture and a unique three-variate diffusion process, which jointly models human motion, object trajectory, and contact sequence, allowing for flexible input configurations. Our method operates in a head-centric canonical space, enhancing robustness to global orientation. We propose a conveyor-based inference, which progressively increases the diffusion timestamp with the frame position, allowing us to process sequences of any length. Through extensive evaluation, we demonstrate that ECHO outperforms existing methods that do not offer the same flexibility, setting a state-of-the-art in egocentric HOI reconstruction.

The life trajectories of notable people have been studied to pinpoint the times and places of significant events such as birth, death, education, marriage, competition, work, speeches, scientific discoveries, artistic achievements, and battles. Understanding how these individuals interact with others provides valuable insights for broader research into human dynamics. However, the scarcity of trajectory data in terms of volume, density, and inter-person interactions, limits relevant studies from being comprehensive and interactive. We mine millions of biography pages from Wikipedia and tackle the generalization problem stemming from the variety and heterogeneity of the trajectory descriptions. Our ensemble model COSMOS, which combines the idea of semi-supervised learning and contrastive learning, achieves an F1 score of 85.95%. For this task, we also create a hand-curated dataset, WikiLifeTrajectory, consisting of 8,852 (person, time, location) triplets as ground truth. Besides, we perform an empirical analysis on the trajectories of 8,272 historians to demonstrate the validity of the extracted results. To facilitate the research on trajectory extractions and help the analytical studies to construct grand narratives, we make our code, the million-level extracted trajectories, and the WikiLifeTrajectory dataset publicly available.

Motion time series collected from mobile and wearable devices such as smartphones and smartwatches offer significant insights into human behavioral patterns, with wide applications in healthcare, automation, IoT, and AR/XR due to their low-power, always-on nature. However, given security and privacy concerns, building large-scale motion time series datasets remains difficult, preventing the development of pre-trained models for human activity analysis. Typically, existing models are trained and tested on the same dataset, leading to poor generalizability across variations in device location, device mounting orientation and human activity type. In this paper, we introduce UniMTS, the first unified pre-training procedure for motion time series that generalizes across diverse device latent factors and activities. Specifically, we employ a contrastive learning framework that aligns motion time series with text descriptions enriched by large language models. This helps the model learn the semantics of time series to generalize across activities. Given the absence of large-scale motion time series data, we derive and synthesize time series from existing motion skeleton data with all-joint coverage. Spatio-temporal graph networks are utilized to capture the relationships across joints for generalization across different device locations. We further design rotation-invariant augmentation to make the model agnostic to changes in device mounting orientations. Our model shows exceptional generalizability across 18 motion time series classification benchmark datasets, outperforming the best baselines by 340% in the zero-shot setting, 16.3% in the few-shot setting, and 9.2% in the full-shot setting.

Human body trajectories are a salient cue to identify actions in the video. Such body trajectories are mainly conveyed by hands and face across consecutive frames in sign language. However, current methods in continuous sign language recognition (CSLR) usually process frames independently, thus failing to capture cross-frame trajectories to effectively identify a sign. To handle this limitation, we propose correlation network (CorrNet) to explicitly capture and leverage body trajectories across frames to identify signs. In specific, a correlation module is first proposed to dynamically compute correlation maps between the current frame and adjacent frames to identify trajectories of all spatial patches. An identification module is then presented to dynamically emphasize the body trajectories within these correlation maps. As a result, the generated features are able to gain an overview of local temporal movements to identify a sign. Thanks to its special attention on body trajectories, CorrNet achieves new state-of-the-art accuracy on four large-scale datasets, i.e., PHOENIX14, PHOENIX14-T, CSL-Daily, and CSL. A comprehensive comparison with previous spatial-temporal reasoning methods verifies the effectiveness of CorrNet. Visualizations demonstrate the effects of CorrNet on emphasizing human body trajectories across adjacent frames.

Urban mobility is naturally expressed both as trajectories in space and as natural-language descriptions of travel intent, constraints, and preferences. However, prior work rarely evaluates these two modalities together on the same real-world trajectories: trajectory modeling often stays geometry-centric, while language-centric mobility benchmarks frequently target route planning and tool use rather than fine-grained, verifiable alignment between text and the underlying route. We introduce TrajPrism, a multi-task benchmark for language-trajectory alignment that unifies (i) instruction-conditioned trajectory generation, (ii) language-driven semantic trajectory retrieval, and (iii) trajectory captioning, together with an evaluation protocol that measures trajectory fidelity, retrieval quality, and language groundedness. We construct TrajPrism by pairing real urban trajectories with judge-filtered language annotations generated under a four-dimensional travel-intent taxonomy. The benchmark contains 300K selected trajectories across Porto, San Francisco, and Beijing, yielding 2.1M task instances from three instruction variants, three retrieval queries, and one caption per trajectory. We further develop proof-of-concept models for each task: TrajAnchor for instruction-conditioned trajectory generation, TrajFuse for semantic trajectory retrieval, and TrajRap for trajectory captioning. These models instantiate the proposed tasks and show that geometry-only trajectory baselines leave a large gap on our protocol, especially where language is part of the input-output interface. We release TrajPrism with code and a reproducible annotation pipeline that is designed to be portable across cities, given compatible trajectory inputs and map resources.

We present the Human And Robot Multimodal Observations of Natural Interactive Collaboration (HARMONIC) data set. This is a large multimodal data set of human interactions with a robotic arm in a shared autonomy setting designed to imitate assistive eating. The data set provides human, robot, and environmental data views of twenty-four different people engaged in an assistive eating task with a 6 degree-of-freedom (DOF) robot arm. From each participant, we recorded video of both eyes, egocentric video from a head-mounted camera, joystick commands, electromyography from the forearm used to operate the joystick, third person stereo video, and the joint positions of the 6 DOF robot arm. Also included are several features that come as a direct result of these recordings, such as eye gaze projected onto the egocentric video, body pose, hand pose, and facial keypoints. These data streams were collected specifically because they have been shown to be closely related to human mental states and intention. This data set could be of interest to researchers studying intention prediction, human mental state modeling, and shared autonomy. Data streams are provided in a variety of formats such as video and human-readable CSV and YAML files.

High-quality data collection is a fundamental cornerstone for training humanoid whole-body visuomotor policies. Current data acquisition paradigms predominantly rely on robot teleoperation, which is often hindered by limited hardware accessibility and low operational efficiency. Inspired by the Universal Manipulation Interface (UMI), we propose BifrostUMI, a portable, efficient, and robot-free data collection framework tailored for humanoid robots. BifrostUMI leverages lightweight VR devices to capture human demonstrations as sparse keypoint trajectories while simultaneously recording wrist-mounted visual data. These multimodal data are subsequently utilized to train a high-level policy network that predicts future keypoint trajectories conditioned on the captured visual features. Through a robust keypoint retargeting pipeline, keypoint trajectories are precisely mapped onto the robot's morphology and executed via a whole-body controller. This approach enables the seamless transfer of diverse and agile behaviors from natural human demonstrations to humanoid embodiments. We demonstrate the efficacy and versatility of the proposed framework across two distinct experimental scenarios.

In this paper, we present a method for unconstrained end-to-end head pose estimation. We address the problem of ambiguous rotation labels by introducing the rotation matrix formalism for our ground truth data and propose a continuous 6D rotation matrix representation for efficient and robust direct regression. This way, our method can learn the full rotation appearance which is contrary to previous approaches that restrict the pose prediction to a narrow-angle for satisfactory results. In addition, we propose a geodesic distance-based loss to penalize our network with respect to the SO(3) manifold geometry. Experiments on the public AFLW2000 and BIWI datasets demonstrate that our proposed method significantly outperforms other state-of-the-art methods by up to 20\%. We open-source our training and testing code along with our pre-trained models: https://github.com/thohemp/6DRepNet.

Virtual Reality (VR) is quickly establishing itself in various industries, including training, education, medicine, and entertainment, in which users are frequently required to carry out multiple complex cognitive and physical activities. However, the relationship between cognitive activities, physical activities, and familiar feelings of cybersickness is not well understood and thus can be unpredictable for developers. Researchers have previously provided labeled datasets for predicting cybersickness while users are stationary, but there have been few labeled datasets on cybersickness while users are physically walking. Thus, from 39 participants, we collected head orientation, head position, eye tracking, images, physiological readings from external sensors, and the self-reported cybersickness severity, physical load, and mental load in VR. Throughout the data collection, participants navigated mazes via real walking and performed tasks challenging their attention and working memory. To demonstrate the dataset's utility, we conducted a case study of training classifiers in which we achieved 95% accuracy for cybersickness severity classification. The noteworthy performance of the straightforward classifiers makes this dataset ideal for future researchers to develop cybersickness detection and reduction models. To better understand the features that helped with classification, we performed SHAP(SHapley Additive exPlanations) analysis, highlighting the importance of eye tracking and physiological measures for cybersickness prediction while walking. This open dataset can allow future researchers to study the connection between cybersickness and cognitive loads and develop prediction models. This dataset will empower future VR developers to design efficient and effective Virtual Environments by improving cognitive load management and minimizing cybersickness.

We introduce SF-LIFE, a large-scale simulated movement dataset designed to accelerate research in transportation, mobility, and machine learning. The dataset contains 3,024,000,000,000 location records capturing complete, noise-free, multi-modality trajectories of 500,000 simulated agents observed at a 1Hz frequency navigating the San Francisco Bay Area network over a 70-day period. The data captures (1) needs-driven daily agendas of individual agents generated by an agent-based simulation of human patterns of life and (2) detailed kinematic trajectories moving agents across the OpenStreetMap representation of San Francisco using data from 40+ transit agencies across 9 counties. SF-LIFE provides unprecedented scale and detail as trajectories are based on real transit infrastructure using San Francisco General Transit Feed Specification (GTFS) data, having agent movements across multiple modalities, including bus, rail, bike, automobile, and walking. For this high-fidelity simulated representation of San Francisco, we provide (1) the full trajectory data annotated with transportation mode labels, (2) reduced-size versions of the trajectory data with reduced temporal frequency, (3) agent activity information describing the causal activity why an agent visits a place, (4) agent demographic data, and (5) the underlying OSM road network and building data. As the first dataset of its scale and level of detail, SF-LIFE overcomes the privacy, noise, and completeness limitations inherent in real-world tracking data, providing a robust and ethically sourced resource for research in transit optimization, human mobility analysis, and urban computing.

While exocentric video synthesis has achieved great progress, egocentric video generation remains largely underexplored, which requires modeling first-person view content along with camera motion patterns induced by the wearer's body movements. To bridge this gap, we introduce a novel task of joint egocentric video and human motion generation, characterized by two key challenges: 1) Viewpoint Alignment: the camera trajectory in the generated video must accurately align with the head trajectory derived from human motion; 2) Causal Interplay: the synthesized human motion must causally align with the observed visual dynamics across adjacent video frames. To address these challenges, we propose EgoTwin, a joint video-motion generation framework built on the diffusion transformer architecture. Specifically, EgoTwin introduces a head-centric motion representation that anchors the human motion to the head joint and incorporates a cybernetics-inspired interaction mechanism that explicitly captures the causal interplay between video and motion within attention operations. For comprehensive evaluation, we curate a large-scale real-world dataset of synchronized text-video-motion triplets and design novel metrics to assess video-motion consistency. Extensive experiments demonstrate the effectiveness of the EgoTwin framework.

Estimating human pose using a front-facing egocentric camera is essential for applications such as sports motion analysis, VR/AR, and AI for wearable devices. However, many existing methods rely on RGB cameras and do not account for low-light environments or motion blur. Event-based cameras have the potential to address these challenges. In this work, we introduce a novel task of human pose estimation using a front-facing event-based camera mounted on the head and propose D-EventEgo, the first framework for this task. The proposed method first estimates the head poses, and then these are used as conditions to generate body poses. However, when estimating head poses, the presence of dynamic objects mixed with background events may reduce head pose estimation accuracy. Therefore, we introduce the Motion Segmentation Module to remove dynamic objects and extract background information. Extensive experiments on our synthetic event-based dataset derived from EgoBody, demonstrate that our approach outperforms our baseline in four out of five evaluation metrics in dynamic environments.

This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper presents 1) a new benchmark containing more than 40 hours of IMU sensor data from 100 human subjects with ground-truth 3D trajectories under natural human motions; 2) novel neural inertial navigation architectures, making significant improvements for challenging motion cases; and 3) qualitative and quantitative evaluations of the competing methods over three inertial navigation benchmarks. We will share the code and data to promote further research.

Understanding users' activities from head-mounted cameras is a fundamental task for Augmented and Virtual Reality (AR/VR) applications. A typical approach is to train a classifier in a supervised manner using data labeled by humans. This approach has limitations due to the expensive annotation cost and the closed coverage of activity labels. A potential way to address these limitations is to use self-supervised learning (SSL). Instead of relying on human annotations, SSL leverages intrinsic properties of data to learn representations. We are particularly interested in learning egocentric video representations benefiting from the head-motion generated by users' daily activities, which can be easily obtained from IMU sensors embedded in AR/VR devices. Towards this goal, we propose a simple but effective approach to learn video representation by learning to tell the corresponding pairs of video clip and head-motion. We demonstrate the effectiveness of our learned representation for recognizing egocentric activities of people and dogs.

Face-to-face communication, as a common human activity, motivates the research on interactive head generation. A virtual agent can generate motion responses with both listening and speaking capabilities based on the audio or motion signals of the other user and itself. However, previous clip-wise generation paradigm or explicit listener/speaker generator-switching methods have limitations in future signal acquisition, contextual behavioral understanding, and switching smoothness, making it challenging to be real-time and realistic. In this paper, we propose an autoregressive (AR) based frame-wise framework called ARIG to realize the real-time generation with better interaction realism. To achieve real-time generation, we model motion prediction as a non-vector-quantized AR process. Unlike discrete codebook-index prediction, we represent motion distribution using diffusion procedure, achieving more accurate predictions in continuous space. To improve interaction realism, we emphasize interactive behavior understanding (IBU) and detailed conversational state understanding (CSU). In IBU, based on dual-track dual-modal signals, we summarize short-range behaviors through bidirectional-integrated learning and perform contextual understanding over long ranges. In CSU, we use voice activity signals and context features of IBU to understand the various states (interruption, feedback, pause, etc.) that exist in actual conversations. These serve as conditions for the final progressive motion prediction. Extensive experiments have verified the effectiveness of our model.

We present EgoAllo, a system for human motion estimation from a head-mounted device. Using only egocentric SLAM poses and images, EgoAllo guides sampling from a conditional diffusion model to estimate 3D body pose, height, and hand parameters that capture the wearer's actions in the allocentric coordinate frame of the scene. To achieve this, our key insight is in representation: we propose spatial and temporal invariance criteria for improving model performance, from which we derive a head motion conditioning parameterization that improves estimation by up to 18%. We also show how the bodies estimated by our system can improve the hands: the resulting kinematic and temporal constraints result in over 40% lower hand estimation errors compared to noisy monocular estimates. Project page: https://egoallo.github.io/

Human motion video generation has garnered significant research interest due to its broad applications, enabling innovations such as photorealistic singing heads or dynamic avatars that seamlessly dance to music. However, existing surveys in this field focus on individual methods, lacking a comprehensive overview of the entire generative process. This paper addresses this gap by providing an in-depth survey of human motion video generation, encompassing over ten sub-tasks, and detailing the five key phases of the generation process: input, motion planning, motion video generation, refinement, and output. Notably, this is the first survey that discusses the potential of large language models in enhancing human motion video generation. Our survey reviews the latest developments and technological trends in human motion video generation across three primary modalities: vision, text, and audio. By covering over two hundred papers, we offer a thorough overview of the field and highlight milestone works that have driven significant technological breakthroughs. Our goal for this survey is to unveil the prospects of human motion video generation and serve as a valuable resource for advancing the comprehensive applications of digital humans. A complete list of the models examined in this survey is available in Our Repository https://github.com/Winn1y/Awesome-Human-Motion-Video-Generation.

Achieving high synchronization in the synthesis of realistic, speech-driven talking head videos presents a significant challenge. Traditional Generative Adversarial Networks (GAN) struggle to maintain consistent facial identity, while Neural Radiance Fields (NeRF) methods, although they can address this issue, often produce mismatched lip movements, inadequate facial expressions, and unstable head poses. A lifelike talking head requires synchronized coordination of subject identity, lip movements, facial expressions, and head poses. The absence of these synchronizations is a fundamental flaw, leading to unrealistic and artificial outcomes. To address the critical issue of synchronization, identified as the "devil" in creating realistic talking heads, we introduce SyncTalk. This NeRF-based method effectively maintains subject identity, enhancing synchronization and realism in talking head synthesis. SyncTalk employs a Face-Sync Controller to align lip movements with speech and innovatively uses a 3D facial blendshape model to capture accurate facial expressions. Our Head-Sync Stabilizer optimizes head poses, achieving more natural head movements. The Portrait-Sync Generator restores hair details and blends the generated head with the torso for a seamless visual experience. Extensive experiments and user studies demonstrate that SyncTalk outperforms state-of-the-art methods in synchronization and realism. We recommend watching the supplementary video: https://ziqiaopeng.github.io/synctalk

Existing methods for capturing datasets of 3D heads in dense semantic correspondence are slow, and commonly address the problem in two separate steps; multi-view stereo (MVS) reconstruction followed by non-rigid registration. To simplify this process, we introduce TEMPEH (Towards Estimation of 3D Meshes from Performances of Expressive Heads) to directly infer 3D heads in dense correspondence from calibrated multi-view images. Registering datasets of 3D scans typically requires manual parameter tuning to find the right balance between accurately fitting the scans surfaces and being robust to scanning noise and outliers. Instead, we propose to jointly register a 3D head dataset while training TEMPEH. Specifically, during training we minimize a geometric loss commonly used for surface registration, effectively leveraging TEMPEH as a regularizer. Our multi-view head inference builds on a volumetric feature representation that samples and fuses features from each view using camera calibration information. To account for partial occlusions and a large capture volume that enables head movements, we use view- and surface-aware feature fusion, and a spatial transformer-based head localization module, respectively. We use raw MVS scans as supervision during training, but, once trained, TEMPEH directly predicts 3D heads in dense correspondence without requiring scans. Predicting one head takes about 0.3 seconds with a median reconstruction error of 0.26 mm, 64% lower than the current state-of-the-art. This enables the efficient capture of large datasets containing multiple people and diverse facial motions. Code, model, and data are publicly available at https://tempeh.is.tue.mpg.de.

Advances in markerless motion capture are making high-quality biomechanical data increasingly accessible, creating a growing need for scalable downstream analytics. Building a bespoke pipeline for each analysis task is time-consuming, motivating models that can flexibly handle diverse clinical questions within a single framework. Recent work has shown that fine-tuning language models to accept tokenized motion as an additional modality enables descriptive captioning of movement, raising the question of whether these models are also capable of clinically relevant motion understanding, where diverse tasks and annotations provide a natural testbed. We investigate whether such a multimodal motion--language model can answer detailed, clinically meaningful questions about movement. We collected 71 hours of biomechanical data from 750 participants, many with movement impairments, performing tasks commonly used in clinical assessment. To further expand the training dataset, we designed a cross-format tokenizer that directly encodes motion data from heterogeneous formats into a shared latent space without paired data, allowing a second dataset to be incorporated and enabling pooling annotations across datasets. From these tokenized representations, we constructed a multimodal dataset of motion-related question--answer pairs and used it to train BiomechGPT, a multimodal biomechanics--language model. BiomechGPT achieves competitive performance across a range of clinically relevant tasks, with performance scaling with both dataset and model size. It offers a new way for clinicians and researchers to interact with biomechanical data and represents a promising direction for rehabilitation-focused movement analysis. Project page: https://intelligentsensingandrehabilitation.github.io/BiomechGPT/

There are five types of trajectory prediction tasks: deterministic, stochastic, domain adaptation, momentary observation, and few-shot. These associated tasks are defined by various factors, such as the length of input paths, data split and pre-processing methods. Interestingly, even though they commonly take sequential coordinates of observations as input and infer future paths in the same coordinates as output, designing specialized architectures for each task is still necessary. For the other task, generality issues can lead to sub-optimal performances. In this paper, we propose SingularTrajectory, a diffusion-based universal trajectory prediction framework to reduce the performance gap across the five tasks. The core of SingularTrajectory is to unify a variety of human dynamics representations on the associated tasks. To do this, we first build a Singular space to project all types of motion patterns from each task into one embedding space. We next propose an adaptive anchor working in the Singular space. Unlike traditional fixed anchor methods that sometimes yield unacceptable paths, our adaptive anchor enables correct anchors, which are put into a wrong location, based on a traversability map. Finally, we adopt a diffusion-based predictor to further enhance the prototype paths using a cascaded denoising process. Our unified framework ensures the generality across various benchmark settings such as input modality, and trajectory lengths. Extensive experiments on five public benchmarks demonstrate that SingularTrajectory substantially outperforms existing models, highlighting its effectiveness in estimating general dynamics of human movements. Code is publicly available at https://github.com/inhwanbae/SingularTrajectory .

Reconstructing biomechanically realistic 3D human motion - recovering both kinematics (motion) and kinetics (forces) - is a critical challenge. While marker-based systems are lab-bound and slow, popular monocular methods use oversimplified, anatomically inaccurate models (e.g., SMPL) and ignore physics, fundamentally limiting their biomechanical fidelity. In this work, we introduce MonoMSK, a hybrid framework that bridges data-driven learning and physics-based simulation for biomechanically realistic 3D human motion estimation from monocular video. MonoMSK jointly recovers both kinematics (motions) and kinetics (forces and torques) through an anatomically accurate musculoskeletal model. By integrating transformer-based inverse dynamics with differentiable forward kinematics and dynamics layers governed by ODE-based simulation, MonoMSK establishes a physics-regulated inverse-forward loop that enforces biomechanical causality and physical plausibility. A novel forward-inverse consistency loss further aligns motion reconstruction with the underlying kinetic reasoning. Experiments on BML-MoVi, BEDLAM, and OpenCap show that MonoMSK significantly outperforms state-of-the-art methods in kinematic accuracy, while for the first time enabling precise monocular kinetics estimation.

Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data models based on normalising flows. Models of this kind can describe highly complex distributions, yet can be trained efficiently using exact maximum likelihood, unlike GANs or VAEs. Our proposed model is autoregressive and uses LSTMs to enable arbitrarily long time-dependencies. Importantly, is is also causal, meaning that each pose in the output sequence is generated without access to poses or control inputs from future time steps; this absence of algorithmic latency is important for interactive applications with real-time motion control. The approach can in principle be applied to any type of motion since it does not make restrictive, task-specific assumptions regarding the motion or the character morphology. We evaluate the models on motion-capture datasets of human and quadruped locomotion. Objective and subjective results show that randomly-sampled motion from the proposed method outperforms task-agnostic baselines and attains a motion quality close to recorded motion capture.

We present a method for 3D ball trajectory estimation from a 2D tracking sequence. To overcome the ambiguity in 3D from 2D estimation, we design an LSTM-based pipeline that utilizes a novel canonical 3D representation that is independent of the camera's location to handle arbitrary views and a series of intermediate representations that encourage crucial invariance and reprojection consistency. We evaluated our method on four synthetic and three real datasets and conducted extensive ablation studies on our design choices. Despite training solely on simulated data, our method achieves state-of-the-art performance and can generalize to real-world scenarios with multiple trajectories, opening up a range of applications in sport analysis and virtual replay. Please visit our page: https://where-is-the-ball.github.io.

Egocentric vision (a.k.a. first-person vision - FPV) applications have thrived over the past few years, thanks to the availability of affordable wearable cameras and large annotated datasets. The position of the wearable camera (usually mounted on the head) allows recording exactly what the camera wearers have in front of them, in particular hands and manipulated objects. This intrinsic advantage enables the study of the hands from multiple perspectives: localizing hands and their parts within the images; understanding what actions and activities the hands are involved in; and developing human-computer interfaces that rely on hand gestures. In this survey, we review the literature that focuses on the hands using egocentric vision, categorizing the existing approaches into: localization (where are the hands or parts of them?); interpretation (what are the hands doing?); and application (e.g., systems that used egocentric hand cues for solving a specific problem). Moreover, a list of the most prominent datasets with hand-based annotations is provided.

Human motion capture from head-mounted devices (HMDs) offers a scalable way to acquire real-world human motion and interaction data, which is crucial for applications in embodied AI and VR/AR. Existing approaches focus on either egocentric body tracking, estimating the motion of the subject wearing the device, or exocentric tracking, capturing the movements of people in the wearer's surroundings. So far, these two paradigms have largely been explored in isolation. In this paper, we propose a novel distributed framework that jointly leverages ego- and exocentric multi-modal signals for human motion estimation from HMDs. Unlike traditional motion capture systems requiring bulky multi-camera setups or obtrusive mocap suits, our approach, EgoExoMoCap, is as simple as two (or more) people, each wearing a pair of smart glasses. The method leverages head (plus potentially wrist) tracking signals for accurate estimation of global motion in the 3D world and combines context-aware image features based on DINOv3 to achieve robustness in the presence of noise and occlusions. Extensive experiments on two in-the-wild datasets show that our approach can robustly reconstruct motion even in challenging scenarios.

Constructing vivid 3D head avatars for given subjects and realizing a series of animations on them is valuable yet challenging. This paper presents GaussianHead, which models the actional human head with anisotropic 3D Gaussians. In our framework, a motion deformation field and multi-resolution tri-plane are constructed respectively to deal with the head's dynamic geometry and complex texture. Notably, we impose an exclusive derivation scheme on each Gaussian, which generates its multiple doppelgangers through a set of learnable parameters for position transformation. With this design, we can compactly and accurately encode the appearance information of Gaussians, even those fitting the head's particular components with sophisticated structures. In addition, an inherited derivation strategy for newly added Gaussians is adopted to facilitate training acceleration. Extensive experiments show that our method can produce high-fidelity renderings, outperforming state-of-the-art approaches in reconstruction, cross-identity reenactment, and novel view synthesis tasks. Our code is available at: https://github.com/chiehwangs/gaussian-head.

Achieving general-purpose humanoid control requires a delicate balance between the precise execution of commanded motions and the flexible, anthropomorphic adaptability needed to recover from unpredictable environmental perturbations. Current general controllers predominantly formulate motion control as a rigid reference-tracking problem. While effective in nominal conditions, these trackers often exhibit brittle, non-anthropomorphic failure modes under severe disturbances, lacking the generative adaptability inherent to human motor control. To overcome this limitation, we propose Heracles, a novel state-conditioned diffusion middleware that bridges precise motion tracking and generative synthesis. Rather than relying on rigid tracking paradigms or complex explicit mode-switching, Heracles operates as an intermediary layer between high-level reference motions and low-level physics trackers. By conditioning on the robot's real-time state, the diffusion model implicitly adapts its behavior: it approximates an identity map when the state closely aligns with the reference, preserving zero-shot tracking fidelity. Conversely, when encountering significant state deviations, it seamlessly transitions into a generative synthesizer to produce natural, anthropomorphic recovery trajectories. Our framework demonstrates that integrating generative priors into the control loop not only significantly enhances robustness against extreme perturbations but also elevates humanoid control from a rigid tracking paradigm to an open-ended, generative general-purpose architecture.

Achieving high synchronization in the synthesis of realistic, speech-driven talking head videos presents a significant challenge. A lifelike talking head requires synchronized coordination of subject identity, lip movements, facial expressions, and head poses. The absence of these synchronizations is a fundamental flaw, leading to unrealistic results. To address the critical issue of synchronization, identified as the ''devil'' in creating realistic talking heads, we introduce SyncTalk++, which features a Dynamic Portrait Renderer with Gaussian Splatting to ensure consistent subject identity preservation and a Face-Sync Controller that aligns lip movements with speech while innovatively using a 3D facial blendshape model to reconstruct accurate facial expressions. To ensure natural head movements, we propose a Head-Sync Stabilizer, which optimizes head poses for greater stability. Additionally, SyncTalk++ enhances robustness to out-of-distribution (OOD) audio by incorporating an Expression Generator and a Torso Restorer, which generate speech-matched facial expressions and seamless torso regions. Our approach maintains consistency and continuity in visual details across frames and significantly improves rendering speed and quality, achieving up to 101 frames per second. Extensive experiments and user studies demonstrate that SyncTalk++ outperforms state-of-the-art methods in synchronization and realism. We recommend watching the supplementary video: https://ziqiaopeng.github.io/synctalk++.

Current advances in human head modeling allow to generate plausible-looking 3D head models via neural representations. Nevertheless, constructing complete high-fidelity head models with explicitly controlled animation remains an issue. Furthermore, completing the head geometry based on a partial observation, e.g. coming from a depth sensor, while preserving details is often problematic for the existing methods. We introduce a generative model for detailed 3D head meshes on top of an articulated 3DMM which allows explicit animation and high-detail preservation at the same time. Our method is trained in two stages. First, we register a parametric head model with vertex displacements to each mesh of the recently introduced NPHM dataset of accurate 3D head scans. The estimated displacements are baked into a hand-crafted UV layout. Second, we train a StyleGAN model in order to generalize over the UV maps of displacements. The decomposition of the parametric model and high-quality vertex displacements allows us to animate the model and modify it semantically. We demonstrate the results of unconditional generation and fitting to the full or partial observation. The project page is available at https://seva100.github.io/headcraft.

Rendering photorealistic and dynamically moving human heads is crucial for ensuring a pleasant and immersive experience in AR/VR and video conferencing applications. However, existing methods often struggle to model challenging facial regions (e.g., mouth interior, eyes, hair/beard), resulting in unrealistic and blurry results. In this paper, we propose {\fullname} ({\name}), a method that adopts the neural point representation as well as the neural volume rendering process and discards the predefined connectivity and hard correspondence imposed by mesh-based approaches. Specifically, the neural points are strategically constrained around the surface of the target expression via a high-resolution UV displacement map, achieving increased modeling capacity and more accurate control. We introduce three technical innovations to improve the rendering and training efficiency: a patch-wise depth-guided (shading point) sampling strategy, a lightweight radiance decoding process, and a Grid-Error-Patch (GEP) ray sampling strategy during training. By design, our {\name} is better equipped to handle topologically changing regions and thin structures while also ensuring accurate expression control when animating avatars. Experiments conducted on three subjects from the Multiface dataset demonstrate the effectiveness of our designs, outperforming previous state-of-the-art methods, especially in handling challenging facial regions.

Generating talking head videos through a face image and a piece of speech audio still contains many challenges. ie, unnatural head movement, distorted expression, and identity modification. We argue that these issues are mainly because of learning from the coupled 2D motion fields. On the other hand, explicitly using 3D information also suffers problems of stiff expression and incoherent video. We present SadTalker, which generates 3D motion coefficients (head pose, expression) of the 3DMM from audio and implicitly modulates a novel 3D-aware face render for talking head generation. To learn the realistic motion coefficients, we explicitly model the connections between audio and different types of motion coefficients individually. Precisely, we present ExpNet to learn the accurate facial expression from audio by distilling both coefficients and 3D-rendered faces. As for the head pose, we design PoseVAE via a conditional VAE to synthesize head motion in different styles. Finally, the generated 3D motion coefficients are mapped to the unsupervised 3D keypoints space of the proposed face render, and synthesize the final video. We conducted extensive experiments to demonstrate the superiority of our method in terms of motion and video quality.

Existing head pose estimation datasets are either composed of numerous samples by non-realistic synthesis or lab collection, or limited images by labor-intensive annotating. This makes deep supervised learning based solutions compromised due to the reliance on generous labeled data. To alleviate it, we propose the first semi-supervised unconstrained head pose estimation (SemiUHPE) method, which can leverage a large amount of unlabeled wild head images. Specifically, we follow the recent semi-supervised rotation regression, and focus on the diverse and complex head pose domain. Firstly, we claim that the aspect-ratio invariant cropping of heads is superior to the previous landmark-based affine alignment, which does not fit unlabeled natural heads or practical applications where landmarks are often unavailable. Then, instead of using an empirically fixed threshold to filter out pseudo labels, we propose the dynamic entropy-based filtering by updating thresholds for adaptively removing unlabeled outliers. Moreover, we revisit the design of weak-strong augmentations, and further exploit its superiority by devising two novel head-oriented strong augmentations named pose-irrelevant cut-occlusion and pose-altering rotation consistency. Extensive experiments show that SemiUHPE can surpass SOTAs with remarkable improvements on public benchmarks under both front-range and full-range. Our code is released in https://github.com/hnuzhy/SemiUHPE.

In trajectory forecasting tasks for traffic, future output trajectories can be computed by advancing the ego vehicle's state with predicted actions according to a kinematics model. By unrolling predicted trajectories via time integration and models of kinematic dynamics, predicted trajectories should not only be kinematically feasible but also relate uncertainty from one timestep to the next. While current works in probabilistic prediction do incorporate kinematic priors for mean trajectory prediction, variance is often left as a learnable parameter, despite uncertainty in one time step being inextricably tied to uncertainty in the previous time step. In this paper, we show simple and differentiable analytical approximations describing the relationship between variance at one timestep and that at the next with the kinematic bicycle model. These approximations can be easily incorporated with negligible additional overhead into any existing trajectory forecasting framework utilizing probabilistic predictions, whether it is autoregressive or one-shot prediction. In our results, we find that encoding the relationship between variance across timesteps works especially well in unoptimal settings, such as with small or noisy datasets. We observe up to a 50% performance boost in partial dataset settings and up to an 8% performance boost in large-scale learning compared to previous kinematic prediction methods on SOTA trajectory forecasting architectures out-of-the-box, with no fine-tuning. In this paper, we show four analytical formulations of probabilistic kinematic priors which can be used for any Gaussian Mixture Model (GMM)-based deep learning models, quantify the error bound on linear approximations applied during trajectory unrolling, and show results to evaluate each formulation in trajectory forecasting.

We present SpineTrack, the first comprehensive dataset for 2D spine pose estimation in unconstrained settings, addressing a crucial need in sports analytics, healthcare, and realistic animation. Existing pose datasets often simplify the spine to a single rigid segment, overlooking the nuanced articulation required for accurate motion analysis. In contrast, SpineTrack annotates nine detailed spinal keypoints across two complementary subsets: a synthetic set comprising 25k annotations created using Unreal Engine with biomechanical alignment through OpenSim, and a real-world set comprising over 33k annotations curated via an active learning pipeline that iteratively refines automated annotations with human feedback. This integrated approach ensures anatomically consistent labels at scale, even for challenging, in-the-wild images. We further introduce SpinePose, extending state-of-the-art body pose estimators using knowledge distillation and an anatomical regularization strategy to jointly predict body and spine keypoints. Our experiments in both general and sports-specific contexts validate the effectiveness of SpineTrack for precise spine pose estimation, establishing a robust foundation for future research in advanced biomechanical analysis and 3D spine reconstruction in the wild.

Introduction: Data from wearable devices collected in free-living settings, and labelled with physical activity behaviours compatible with health research, are essential for both validating existing wearable-based measurement approaches and developing novel machine learning approaches. One common way of obtaining these labels relies on laborious annotation of sequences of images captured by cameras worn by participants through the course of a day. Methods: We compare the performance of three vision language models and two discriminative models on two free-living validation studies with 161 and 111 participants, collected in Oxfordshire, United Kingdom and Sichuan, China, respectively, using the Autographer (OMG Life, defunct) wearable camera. Results: We found that the best open-source vision-language model (VLM) and fine-tuned discriminative model (DM) achieved comparable performance when predicting sedentary behaviour from single images on unseen participants in the Oxfordshire study; median F1-scores: VLM = 0.89 (0.84, 0.92), DM = 0.91 (0.86, 0.95). Performance declined for light (VLM = 0.60 (0.56,0.67), DM = 0.70 (0.63, 0.79)), and moderate-to-vigorous intensity physical activity (VLM = 0.66 (0.53, 0.85); DM = 0.72 (0.58, 0.84)). When applied to the external Sichuan study, performance fell across all intensity categories, with median Cohen's kappa-scores falling from 0.54 (0.49, 0.64) to 0.26 (0.15, 0.37) for the VLM, and from 0.67 (0.60, 0.74) to 0.19 (0.10, 0.30) for the DM. Conclusion: Freely available computer vision models could help annotate sedentary behaviour, typically the most prevalent activity of daily living, from wearable camera images within similar populations to seen data, reducing the annotation burden.

Talking head generation intends to produce vivid and realistic talking head videos from a single portrait and speech audio clip. Although significant progress has been made in diffusion-based talking head generation, almost all methods rely on autoregressive strategies, which suffer from limited context utilization beyond the current generation step, error accumulation, and slower generation speed. To address these challenges, we present DAWN (Dynamic frame Avatar With Non-autoregressive diffusion), a framework that enables all-at-once generation of dynamic-length video sequences. Specifically, it consists of two main components: (1) audio-driven holistic facial dynamics generation in the latent motion space, and (2) audio-driven head pose and blink generation. Extensive experiments demonstrate that our method generates authentic and vivid videos with precise lip motions, and natural pose/blink movements. Additionally, with a high generation speed, DAWN possesses strong extrapolation capabilities, ensuring the stable production of high-quality long videos. These results highlight the considerable promise and potential impact of DAWN in the field of talking head video generation. Furthermore, we hope that DAWN sparks further exploration of non-autoregressive approaches in diffusion models. Our code will be publicly at https://github.com/Hanbo-Cheng/DAWN-pytorch.

Modeling human mobility is vital for extensive applications such as transportation planning and epidemic modeling. With the rise of the Artificial Intelligence Generated Content (AIGC) paradigm, recent works explore synthetic trajectory generation using autoregressive and diffusion models. While these methods show promise for generating single-day trajectories, they remain limited by inefficiencies in long-term generation (e.g., weekly trajectories) and a lack of explicit spatiotemporal multi-scale modeling. This study proposes Multi-Scale Spatio-Temporal AutoRegression (M-STAR), a new framework that generates long-term trajectories through a coarse-to-fine spatiotemporal prediction process. M-STAR combines a Multi-scale Spatiotemporal Tokenizer that encodes hierarchical mobility patterns with a Transformer-based decoder for next-scale autoregressive prediction. Experiments on two real-world datasets show that M-STAR outperforms existing methods in fidelity and significantly improves generation speed. The data and codes are available at https://github.com/YuxiaoLuo0013/M-STAR.

We present a novel dataset and a novel algorithm for recognizing activities of daily living (ADL) from a first-person wearable camera. Handled objects are crucially important for egocentric ADL recognition. For specific examination of objects related to users' actions separately from other objects in an environment, many previous works have addressed the detection of handled objects in images captured from head-mounted and chest-mounted cameras. Nevertheless, detecting handled objects is not always easy because they tend to appear small in images. They can be occluded by a user's body. As described herein, we mount a camera on a user's wrist. A wrist-mounted camera can capture handled objects at a large scale, and thus it enables us to skip object detection process. To compare a wrist-mounted camera and a head-mounted camera, we also develop a novel and publicly available dataset that includes videos and annotations of daily activities captured simultaneously by both cameras. Additionally, we propose a discriminative video representation that retains spatial and temporal information after encoding frame descriptors extracted by Convolutional Neural Networks (CNN).

In this paper, we introduce HEADS-UP, the first egocentric dataset collected from head-mounted cameras, designed specifically for trajectory prediction in blind assistance systems. With the growing population of blind and visually impaired individuals, the need for intelligent assistive tools that provide real-time warnings about potential collisions with dynamic obstacles is becoming critical. These systems rely on algorithms capable of predicting the trajectories of moving objects, such as pedestrians, to issue timely hazard alerts. However, existing datasets fail to capture the necessary information from the perspective of a blind individual. To address this gap, HEADS-UP offers a novel dataset focused on trajectory prediction in this context. Leveraging this dataset, we propose a semi-local trajectory prediction approach to assess collision risks between blind individuals and pedestrians in dynamic environments. Unlike conventional methods that separately predict the trajectories of both the blind individual (ego agent) and pedestrians, our approach operates within a semi-local coordinate system, a rotated version of the camera's coordinate system, facilitating the prediction process. We validate our method on the HEADS-UP dataset and implement the proposed solution in ROS, performing real-time tests on an NVIDIA Jetson GPU through a user study. Results from both dataset evaluations and live tests demonstrate the robustness and efficiency of our approach.

Motion behaviour is driven by several factors -- goals, presence and actions of neighbouring agents, social relations, physical and social norms, the environment with its variable characteristics, and further. Most factors are not directly observable and must be modelled from context. Trajectory prediction, is thus a hard problem, and has seen increasing attention from researchers in the recent years. Prediction of motion, in application, must be realistic, diverse and controllable. In spite of increasing focus on multimodal trajectory generation, most methods still lack means for explicitly controlling different modes of the data generation. Further, most endeavours invest heavily in designing special mechanisms to learn the interactions in latent space. We present Conditional Speed GAN (CSG), that allows controlled generation of diverse and socially acceptable trajectories, based on user controlled speed. During prediction, CSG forecasts future speed from latent space and conditions its generation based on it. CSG is comparable to state-of-the-art GAN methods in terms of the benchmark distance metrics, while being simple and useful for simulation and data augmentation for different contexts such as fast or slow paced environments. Additionally, we compare the effect of different aggregation mechanisms and show that a naive approach of concatenation works comparable to its attention and pooling alternatives.

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative models trained on curated data to learn road agents' stochastic behavior bounded by scene constraints. However, they often face mode averaging issues due to data imbalance and simplistic priors, and could even suffer from mode collapse due to unstable training and single ground truth supervision. These issues lead the existing methods to a loss of predictive diversity and adherence to the scene constraints. To address these challenges, we introduce a novel trajectory generator named Controllable Diffusion Trajectory (CDT), which integrates map information and social interactions into a Transformer-based conditional denoising diffusion model to guide the prediction of future trajectories. To ensure multimodality, we incorporate behavioral tokens to direct the trajectory's modes, such as going straight, turning right or left. Moreover, we incorporate the predicted endpoints as an alternative behavioral token into the CDT model to facilitate the prediction of accurate trajectories. Extensive experiments on the Argoverse 2 benchmark demonstrate that CDT excels in generating diverse and scene-compliant trajectories in complex urban settings.

Accurate prediction of pedestrians' future motions is critical for intelligent driving systems. Developing models for this task requires rich datasets containing diverse sets of samples. However, the existing naturalistic trajectory prediction datasets are generally imbalanced in favor of simpler samples and lack challenging scenarios. Such a long-tail effect causes prediction models to underperform on the tail portion of the data distribution containing safety-critical scenarios. Previous methods tackle the long-tail problem using methods such as contrastive learning and class-conditioned hypernetworks. These approaches, however, are not modular and cannot be applied to many machine learning architectures. In this work, we propose a modular model-agnostic framework for trajectory prediction that leverages a specialized mixture of experts. In our approach, each expert is trained with a specialized skill with respect to a particular part of the data. To produce predictions, we utilise a router network that selects the best expert by generating relative confidence scores. We conduct experimentation on common pedestrian trajectory prediction datasets and show that besides achieving state-of-the-art performance, our method significantly performs better on long-tail scenarios. We further conduct ablation studies to highlight the contribution of different proposed components.

As embodied agents become central to VR, telepresence, and digital human applications, their motion must go beyond speech-aligned gestures: agents should turn toward users, respond to their movement, and maintain natural gaze. Current methods lack this spatial awareness. We close this gap with the first real-time, fully causal method for spatially-aware conversational motion, deployable on a streaming VR headset. Given a user's position and dyadic audio, our approach produces full-body motion that aligns gestures with speech while orienting the agent according to the user. Our architecture combines a causal transformer-based VAE with interleaved latent tokens for streaming inference and a flow matching model conditioned on user trajectory and audio. To support varying gaze preferences, we introduce a gaze scoring mechanism with classifier-free guidance to decouple learning from control: the model captures natural spatial alignment from data, while users can adjust eye contact intensity at inference time. On the Embody 3D dataset, our method achieves state-of-the-art motion quality at over 300 FPS -- 3x faster than non-causal baselines -- while capturing the subtle spatial dynamics of natural conversation. We validate our approach on a live VR system, bringing spatially-aware conversational agents to real-time deployment. Please see https://evonneng.github.io/sarah/ for details.

This study presents an automated lameness detection system that uses deep-learning image processing techniques to extract multiple locomotion traits associated with lameness. Using the T-LEAP pose estimation model, the motion of nine keypoints was extracted from videos of walking cows. The videos were recorded outdoors, with varying illumination conditions, and T-LEAP extracted 99.6% of correct keypoints. The trajectories of the keypoints were then used to compute six locomotion traits: back posture measurement, head bobbing, tracking distance, stride length, stance duration, and swing duration. The three most important traits were back posture measurement, head bobbing, and tracking distance. For the ground truth, we showed that a thoughtful merging of the scores of the observers could improve intra-observer reliability and agreement. We showed that including multiple locomotion traits improves the classification accuracy from 76.6% with only one trait to 79.9% with the three most important traits and to 80.1% with all six locomotion traits.

Talking face generation has historically struggled to produce head movements and natural facial expressions without guidance from additional reference videos. Recent developments in diffusion-based generative models allow for more realistic and stable data synthesis and their performance on image and video generation has surpassed that of other generative models. In this work, we present an autoregressive diffusion model that requires only one identity image and audio sequence to generate a video of a realistic talking human head. Our solution is capable of hallucinating head movements, facial expressions, such as blinks, and preserving a given background. We evaluate our model on two different datasets, achieving state-of-the-art results on both of them.

Humanoid robots and mixed reality headsets benefit from the use of head-mounted sensors for tracking. While advancements in visual-inertial odometry (VIO) and simultaneous localization and mapping (SLAM) have produced new and high-quality state-of-the-art tracking systems, we show that these are still unable to gracefully handle many of the challenging settings presented in the head-mounted use cases. Common scenarios like high-intensity motions, dynamic occlusions, long tracking sessions, low-textured areas, adverse lighting conditions, saturation of sensors, to name a few, continue to be covered poorly by existing datasets in the literature. In this way, systems may inadvertently overlook these essential real-world issues. To address this, we present the Monado SLAM dataset, a set of real sequences taken from multiple virtual reality headsets. We release the dataset under a permissive CC BY 4.0 license, to drive advancements in VIO/SLAM research and development.

Gait disorders are commonly observed in older adults, who frequently experience various issues related to walking. Additionally, researchers and clinicians extensively investigate mobility related to gait in typically and atypically developing children, athletes, and individuals with orthopedic and neurological disorders. Effective gait analysis enables the understanding of the causal mechanisms of mobility and balance control of patients, the development of tailored treatment plans to improve mobility, the reduction of fall risk, and the tracking of rehabilitation progress. However, analyzing gait data is a complex task due to the multivariate nature of the data, the large volume of information to be interpreted, and the technical skills required. Existing tools for gait analysis are often limited to specific patient groups (e.g., cerebral palsy), only handle a specific subset of tasks in the entire workflow, and are not openly accessible. To address these shortcomings, we conducted a requirements assessment with gait practitioners (e.g., researchers, clinicians) via surveys and identified key components of the workflow, including (1) data processing and (2) data analysis and visualization. Based on the findings, we designed VIGMA, an open-access visual analytics framework integrated with computational notebooks and a Python library, to meet the identified requirements. Notably, the framework supports analytical capabilities for assessing disease progression and for comparing multiple patient groups. We validated the framework through usage scenarios with experts specializing in gait and mobility rehabilitation. VIGMA is available at https://github.com/komar41/VIGMA.

Recent advances in real-time interactive text-driven motion generation have enabled humanoids to perform diverse behaviors. However, kinematics-only generators often exhibit physical hallucinations, producing motion trajectories that are physically infeasible to track with a downstream motion tracking controller or unsafe for real-world deployment. These failures often arise from the lack of explicit physics-aware objectives for real-robot execution and become more severe under out-of-distribution (OOD) user inputs. Hence, we propose SafeFlow, a text-driven humanoid whole-body control framework that combines physics-guided motion generation with a 3-Stage Safety Gate driven by explicit risk indicators. SafeFlow adopts a two-level architecture. At the high level, we generate motion trajectories using Physics-Guided Rectified Flow Matching in a VAE latent space to improve real-robot executability, and further accelerate sampling via Reflow to reduce the number of function evaluations (NFE) for real-time control. The 3-Stage Safety Gate enables selective execution by detecting semantic OOD prompts using a Mahalanobis score in text-embedding space, filtering unstable generations via a directional sensitivity discrepancy metric, and enforcing final hard kinematic constraints such as joint and velocity limits before passing the generated trajectory to a low-level motion tracking controller. Extensive experiments on the Unitree G1 demonstrate that SafeFlow outperforms prior diffusion-based methods in success rate, physical compliance, and inference speed, while maintaining diverse expressiveness.

Precise tracking of the jaw kinematics is crucial for diagnosing various musculoskeletal and neuromuscular diseases affecting the masticatory system and for advancing rehabilitative devices such as jaw exoskeletons, a hardly explored research field, to treat these disorders. We introduce an open-source, low-cost, precise, non-invasive, and biocompatible jaw tracking system based on optical motion capture technology to address the need for accessible and adaptable research tools. The system encompasses a complete pipeline from data acquisition, processing, and kinematic analysis to filtering, visualization, and data storage. We evaluated its performance and feasibility in experiments with four participants executing various jaw movements. The system demonstrated reliable kinematic tracking with an estimated precision of (182 pm 47) {mu}m and (0.126 pm 0.034) {deg}. Therefore, the open-source nature of the system and its utility comparable to commercial systems make it suitable for many research and development contexts, especially for applications such as the integration and design of jaw exoskeletons and customized diagnostic protocols. The complete system is available at GitHub with the aim of promoting innovation in temporomandibular disorders research and jaw assistive technology.

When studying unconstrained behaviour and allowing mice to leave their cage to navigate a complex labyrinth, the mice exhibit foraging behaviour in the labyrinth searching for rewards, returning to their home cage now and then, e.g. to drink. Surprisingly, when executing such a ``home run'', the mice do not follow the exact reverse path, in fact, the entry path and home path have very little overlap. Recent work proposed a hierarchical active inference model for navigation, where the low level model makes inferences about hidden states and poses that explain sensory inputs, whereas the high level model makes inferences about moving between locations, effectively building a map of the environment. However, using this ``map'' for planning, only allows the agent to find trajectories that it previously explored, far from the observed mice's behaviour. In this paper, we explore ways of incorporating before-unvisited paths in the planning algorithm, by using the low level generative model to imagine potential, yet undiscovered paths. We demonstrate a proof of concept in a grid-world environment, showing how an agent can accurately predict a new, shorter path in the map leading to its starting point, using a generative model learnt from pixel-based observations.

Neural representations carry rich geometric structure; but does that structure causally shape behavior? To address this question, we intervene along paths through activation space defined by different geometries, and measure the behavioral trajectories they induce. In particular, we test whether interventions that respect the geometry of activation space will yield behaviors close to those the model exhibits naturally. Concretely, we first fit an activation manifold M_h to representations and a behavior manifold M_y to output probability distributions. We then test the link M_h leftrightarrow M_y via interventions: we find that steering along M_h, which we term manifold steering, yields behavioral trajectories that follow M_y, while linear steering -- which assumes a Euclidean geometry -- cuts through off-manifold regions and hence produces unnatural outputs. Moreover, optimizing interventions in activation space to produce paths along M_y recovers activation trajectories that trace the curvature of M_h. We demonstrate this bidirectional relationship between the geometry of representation and behavior across tasks and modalities. In language models, we use reasoning tasks with cyclic and sequential geometries as well as in-context learning tasks with more complex graph geometries. In a video world model, we use a task with geometry corresponding to physical dynamics. Overall, our work shows that geometry in neural representation is not merely incidental, but is in fact the proper object for enabling principled control via intervention on internals. This recasts the core problem of steering from finding the right direction to finding the right geometry.

Real-time face orientation recognition is a cutting-edge technology meant to track and analyze facial movements in virtual environments such as online interviews, remote meetings, and virtual classrooms. As the demand for virtual interactions grows, it becomes increasingly important to measure participant engagement, attention, and overall interaction. This research presents a novel solution that leverages the Media Pipe Face Mesh framework to identify facial landmarks and extract geometric data for calculating Euler angles, which determine head orientation in real time. The system tracks 3D facial landmarks and uses this data to compute head movements with a focus on accuracy and responsiveness. By studying Euler angles, the system can identify a user's head orientation with an accuracy of 90\%, even at a distance of up to four feet. This capability offers significant enhancements for monitoring user interaction, allowing for more immersive and interactive virtual ex-periences. The proposed method shows its reliability in evaluating participant attentiveness during online assessments and meetings. Its application goes beyond engagement analysis, potentially providing a means for improving the quality of virtual communication, fostering better understanding between participants, and ensuring a higher level of interaction in digital spaces. This study offers a basis for future developments in enhancing virtual user experiences by integrating real-time facial tracking technologies, paving the way for more adaptive and interactive web-based platform.

Recent digital media advancements have created increasing demands for sophisticated portrait manipulation techniques, particularly head swapping, where one's head is seamlessly integrated with another's body. However, current approaches predominantly rely on face-centered cropped data with limited view angles, significantly restricting their real-world applicability. They struggle with diverse head expressions, varying hairstyles, and natural blending beyond facial regions. To address these limitations, we propose Adaptive Head Synthesis (AHS), which effectively handles full upper-body images with varied head poses and expressions. AHS incorporates a novel head reenacted synthetic data augmentation strategy to overcome self-supervised training constraints, enhancing generalization across diverse facial expressions and orientations without requiring paired training data. Comprehensive experiments demonstrate that AHS achieves superior performance in challenging real-world scenarios, producing visually coherent results that preserve identity and expression fidelity across various head orientations and hairstyles. Notably, AHS shows exceptional robustness in maintaining facial identity while drastic expression changes and faithfully preserving accessories while significant head pose variations.

Understanding how transformer representations evolve across layers, not merely what they encode, remains an open problem in mechanistic interpretability. We recast the transformer forward pass as a discrete population trajectory through a high-dimensional representation manifold, drawing on geometric tools from computational neuroscience. Rather than probing for pre-specified features, we characterize trajectory geometry using five metrics computed directly in the ambient space: trajectory length, curvature, a semantic convergence index, layerwise cosine similarity, and representational stability. Across three model families (GPT-2, TinyLlama, Qwen2.5) and five controlled prompt families, we report four findings. First, semantically related prompts converge significantly in middle-to-late layers (peak CI 0.41--0.58, p<0.001, Mann-Whitney U), consistent with attractor-like dynamics. Second, reasoning tasks produce trajectories of greater curvature than lexical variations (0.71--0.83 rad vs. 0.27--0.31 rad), suggesting curvature encodes computational complexity. Third, ambiguous tokens exhibit trajectory bifurcation with up to 5.6x representational separation by the final layer, absent in unambiguous controls. Fourth, layerwise cosine similarity reveals a universal three-phase structure: encoding, elaboration, and output preparation, consistent across all three architectures. All four effects vanish under shuffled-layer and random-embedding controls. We release a fully open-source, model-agnostic pipeline and argue that trajectory geometry constitutes a principled, probe-free lens for mechanistic interpretability.

While generative video models have achieved remarkable fidelity and consistency, applying these capabilities to video editing remains a complex challenge. Recent research has explored motion controllability as a means to enhance text-to-video generation or image animation; however, we identify precise motion control as a promising yet under-explored paradigm for editing existing videos. In this work, we propose modifying video motion by directly editing sparse trajectories extracted from the input. We term the deviation between input and output trajectories a "motion edit" and demonstrate that this representation, when coupled with a generative backbone, enables powerful video editing capabilities. To achieve this, we introduce a pipeline for generating "motion counterfactuals", video pairs that share identical content but distinct motion, and we fine-tune a motion-conditioned video diffusion architecture on this dataset. Our approach allows for edits that start at any timestamp and propagate naturally. In a four-way head-to-head user study, our model achieves over 65 percent preference against prior work. Please see our project page: https://ryanndagreat.github.io/MotionV2V

Egocentric human video offers a scalable alternative to robot data for pretraining, yet models pretrained on such video consistently underperform those pretrained on robot data. We attribute this gap to a missing signal, the active perception behavior in egocentric videos, where humans continuously reposition their viewpoint during manipulation, inducing camera motion that standard pipelines treat as noise. To address this, we present ActiveMimic, a pretraining framework that recovers synchronized camera and wrist trajectories from a single body-worn RGB camera, models camera motion as a viewpoint action, and jointly learns active perception and manipulation from in-the-wild egocentric human video before adapting to a target robot. Empirically, real-world experiments across tasks with diverse active perception demands show that ActiveMimic consistently surpasses baselines pretrained on human video and matches state-of-the-art models pretrained on robot data. Further analysis provides evidence that active perception capability originates from egocentric human video pretraining rather than robot-specific fine-tuning, confirming active perception as the key to unlocking egocentric human video for robot pretraining.

With the introduction of diffusion-based video generation techniques, audio-conditioned human video generation has recently achieved significant breakthroughs in both the naturalness of motion and the synthesis of portrait details. Due to the limited control of audio signals in driving human motion, existing methods often add auxiliary spatial signals to stabilize movements, which may compromise the naturalness and freedom of motion. In this paper, we propose an end-to-end audio-only conditioned video diffusion model named Loopy. Specifically, we designed an inter- and intra-clip temporal module and an audio-to-latents module, enabling the model to leverage long-term motion information from the data to learn natural motion patterns and improving audio-portrait movement correlation. This method removes the need for manually specified spatial motion templates used in existing methods to constrain motion during inference. Extensive experiments show that Loopy outperforms recent audio-driven portrait diffusion models, delivering more lifelike and high-quality results across various scenarios.

Forecasting future trajectories of agents in complex traffic scenes requires reliable and efficient predictions for all agents in the scene. However, existing methods for trajectory prediction are either inefficient or sacrifice accuracy. To address this challenge, we propose ADAPT, a novel approach for jointly predicting the trajectories of all agents in the scene with dynamic weight learning. Our approach outperforms state-of-the-art methods in both single-agent and multi-agent settings on the Argoverse and Interaction datasets, with a fraction of their computational overhead. We attribute the improvement in our performance: first, to the adaptive head augmenting the model capacity without increasing the model size; second, to our design choices in the endpoint-conditioned prediction, reinforced by gradient stopping. Our analyses show that ADAPT can focus on each agent with adaptive prediction, allowing for accurate predictions efficiently. https://KUIS-AI.github.io/adapt

Nowadays, it is possible to scan faces and automatically register them with high quality. However, the resulting face meshes often need further processing: we need to stabilize them to remove unwanted head movement. Stabilization is important for tasks like game development or movie making which require facial expressions to be cleanly separated from rigid head motion. Since manual stabilization is labor-intensive, there have been attempts to automate it. However, previous methods remain impractical: they either still require some manual input, produce imprecise alignments, rely on dubious heuristics and slow optimization, or assume a temporally ordered input. Instead, we present a new learning-based approach that is simple and fully automatic. We treat stabilization as a regression problem: given two face meshes, our network directly predicts the rigid transform between them that brings their skulls into alignment. We generate synthetic training data using a 3D Morphable Model (3DMM), exploiting the fact that 3DMM parameters separate skull motion from facial skin motion. Through extensive experiments we show that our approach outperforms the state-of-the-art both quantitatively and qualitatively on the tasks of stabilizing discrete sets of facial expressions as well as dynamic facial performances. Furthermore, we provide an ablation study detailing the design choices and best practices to help others adopt our approach for their own uses. Supplementary videos can be found on the project webpage syntec-research.github.io/FaceStab.

Human Activity Recognition (HAR) based on wearable inertial sensors plays a critical role in remote health monitoring. In patients with movement disorders, the ability to detect abnormal patient movements in their home environments can enable continuous optimization of treatments and help alert caretakers as needed. Machine learning approaches have been proposed for HAR tasks using Inertial Measurement Unit (IMU) data; however, most rely on application-specific labels and lack generalizability to data collected in different environments or populations. To address this limitation, we propose a new cross-modal self-supervised pretraining approach to learn representations from large-sale unlabeled IMU-video data and demonstrate improved generalizability in HAR tasks on out of distribution (OOD) IMU datasets, including a dataset collected from patients with Parkinson's disease. Specifically, our results indicate that the proposed cross-modal pretraining approach outperforms the current state-of-the-art IMU-video pretraining approach and IMU-only pretraining under zero-shot and few-shot evaluations. Broadly, our study provides evidence that in highly dynamic data modalities, such as IMU signals, cross-modal pretraining may be a useful tool to learn generalizable data representations. Our software is available at https://github.com/scheshmi/IMU-Video-OOD-HAR.

Task-based behavioral biometric authentication of users interacting in virtual reality (VR) environments enables seamless continuous authentication by using only the motion trajectories of the person's body as a unique signature. Deep learning-based approaches for behavioral biometrics show high accuracy when using complete or near complete portions of the user trajectory, but show lower performance when using smaller segments from the start of the task. Thus, any systems designed with existing techniques are vulnerable while waiting for future segments of motion trajectories to become available. In this work, we present the first approach that predicts future user behavior using Transformer-based forecasting and using the forecasted trajectory to perform user authentication. Our work leverages the notion that given the current trajectory of a user in a task-based environment we can predict the future trajectory of the user as they are unlikely to dramatically shift their behavior since it would preclude the user from successfully completing their task goal. Using the publicly available 41-subject ball throwing dataset of Miller et al. we show improvement in user authentication when using forecasted data. When compared to no forecasting, our approach reduces the authentication equal error rate (EER) by an average of 23.85% and a maximum reduction of 36.14%.

Current co-speech motion generation approaches usually focus on upper body gestures following speech contents only, while lacking supporting the elaborate control of synergistic full-body motion based on text prompts, such as talking while walking. The major challenges lie in 1) the existing speech-to-motion datasets only involve highly limited full-body motions, making a wide range of common human activities out of training distribution; 2) these datasets also lack annotated user prompts. To address these challenges, we propose SynTalker, which utilizes the off-the-shelf text-to-motion dataset as an auxiliary for supplementing the missing full-body motion and prompts. The core technical contributions are two-fold. One is the multi-stage training process which obtains an aligned embedding space of motion, speech, and prompts despite the significant distributional mismatch in motion between speech-to-motion and text-to-motion datasets. Another is the diffusion-based conditional inference process, which utilizes the separate-then-combine strategy to realize fine-grained control of local body parts. Extensive experiments are conducted to verify that our approach supports precise and flexible control of synergistic full-body motion generation based on both speeches and user prompts, which is beyond the ability of existing approaches.

Achieving generalizable manipulation in unconstrained environments requires the robot to proactively resolve information uncertainty, i.e., the capability of active perception. However, existing methods are often confined in limited types of sensing behaviors, restricting their applicability to complex environments. In this work, we formalize active perception as a non-Markovian process driven by information gain and decision branching, providing a structured categorization of visual active perception paradigms. Building on this perspective, we introduce CoMe-VLA, a cognitive and memory-aware vision-language-action (VLA) framework that leverages large-scale human egocentric data to learn versatile exploration and manipulation priors. Our framework integrates a cognitive auxiliary head for autonomous sub-task transitions and a dual-track memory system to maintain consistent self and environmental awareness by fusing proprioceptive and visual temporal contexts. By aligning human and robot hand-eye coordination behaviors in a unified egocentric action space, we train the model progressively in three stages. Extensive experiments on a wheel-based humanoid have demonstrated strong robustness and adaptability of our proposed method across diverse long-horizon tasks spanning multiple active perception scenarios.

We present Aria Everyday Activities (AEA) Dataset, an egocentric multimodal open dataset recorded using Project Aria glasses. AEA contains 143 daily activity sequences recorded by multiple wearers in five geographically diverse indoor locations. Each of the recording contains multimodal sensor data recorded through the Project Aria glasses. In addition, AEA provides machine perception data including high frequency globally aligned 3D trajectories, scene point cloud, per-frame 3D eye gaze vector and time aligned speech transcription. In this paper, we demonstrate a few exemplar research applications enabled by this dataset, including neural scene reconstruction and prompted segmentation. AEA is an open source dataset that can be downloaded from projectaria.com. We are also providing open-source implementations and examples of how to use the dataset in Project Aria Tools.

Tracking by detection has been the prevailing paradigm in the field of Multi-object Tracking (MOT). These methods typically rely on the Kalman Filter to estimate the future locations of objects, assuming linear object motion. However, they fall short when tracking objects exhibiting nonlinear and diverse motion in scenarios like dancing and sports. In addition, there has been limited focus on utilizing learning-based motion predictors in MOT. To address these challenges, we resort to exploring data-driven motion prediction methods. Inspired by the great expectation of state space models (SSMs), such as Mamba, in long-term sequence modeling with near-linear complexity, we introduce a Mamba-based motion model named Mamba moTion Predictor (MTP). MTP is designed to model the complex motion patterns of objects like dancers and athletes. Specifically, MTP takes the spatial-temporal location dynamics of objects as input, captures the motion pattern using a bi-Mamba encoding layer, and predicts the next motion. In real-world scenarios, objects may be missed due to occlusion or motion blur, leading to premature termination of their trajectories. To tackle this challenge, we further expand the application of MTP. We employ it in an autoregressive way to compensate for missing observations by utilizing its own predictions as inputs, thereby contributing to more consistent trajectories. Our proposed tracker, MambaTrack, demonstrates advanced performance on benchmarks such as Dancetrack and SportsMOT, which are characterized by complex motion and severe occlusion.

Human trajectory prediction is a practical task of predicting the future positions of pedestrians on the road, which typically covers all temporal ranges from short-term to long-term within a trajectory. However, existing works attempt to address the entire trajectory prediction with a singular, uniform training paradigm, neglecting the distinction between short-term and long-term dynamics in human trajectories. To overcome this limitation, we introduce a novel Progressive Pretext Task learning (PPT) framework, which progressively enhances the model's capacity of capturing short-term dynamics and long-term dependencies for the final entire trajectory prediction. Specifically, we elaborately design three stages of training tasks in the PPT framework. In the first stage, the model learns to comprehend the short-term dynamics through a stepwise next-position prediction task. In the second stage, the model is further enhanced to understand long-term dependencies through a destination prediction task. In the final stage, the model aims to address the entire future trajectory task by taking full advantage of the knowledge from previous stages. To alleviate the knowledge forgetting, we further apply a cross-task knowledge distillation. Additionally, we design a Transformer-based trajectory predictor, which is able to achieve highly efficient two-step reasoning by integrating a destination-driven prediction strategy and a group of learnable prompt embeddings. Extensive experiments on popular benchmarks have demonstrated that our proposed approach achieves state-of-the-art performance with high efficiency. Code is available at https://github.com/iSEE-Laboratory/PPT.

Estimating the head pose of a person is a crucial problem that has a large amount of applications such as aiding in gaze estimation, modeling attention, fitting 3D models to video and performing face alignment. Traditionally head pose is computed by estimating some keypoints from the target face and solving the 2D to 3D correspondence problem with a mean human head model. We argue that this is a fragile method because it relies entirely on landmark detection performance, the extraneous head model and an ad-hoc fitting step. We present an elegant and robust way to determine pose by training a multi-loss convolutional neural network on 300W-LP, a large synthetically expanded dataset, to predict intrinsic Euler angles (yaw, pitch and roll) directly from image intensities through joint binned pose classification and regression. We present empirical tests on common in-the-wild pose benchmark datasets which show state-of-the-art results. Additionally we test our method on a dataset usually used for pose estimation using depth and start to close the gap with state-of-the-art depth pose methods. We open-source our training and testing code as well as release our pre-trained models.

Spatial cognition enables adaptive goal-directed behavior by constructing internal models of space. Robust biological systems consolidate spatial knowledge into three interconnected forms: landmarks for salient cues, route knowledge for movement trajectories, and survey knowledge for map-like representations. While recent advances in multi-modal large language models (MLLMs) have enabled visual-language reasoning in embodied agents, these efforts lack structured spatial memory and instead operate reactively, limiting their generalization and adaptability in complex real-world environments. Here we present Brain-inspired Spatial Cognition for Navigation (BSC-Nav), a unified framework for constructing and leveraging structured spatial memory in embodied agents. BSC-Nav builds allocentric cognitive maps from egocentric trajectories and contextual cues, and dynamically retrieves spatial knowledge aligned with semantic goals. Integrated with powerful MLLMs, BSC-Nav achieves state-of-the-art efficacy and efficiency across diverse navigation tasks, demonstrates strong zero-shot generalization, and supports versatile embodied behaviors in the real physical world, offering a scalable and biologically grounded path toward general-purpose spatial intelligence.

LiDAR-based human motion capture has garnered significant interest in recent years for its practicability in large-scale and unconstrained environments. However, most methods rely on cleanly segmented human point clouds as input, the accuracy and smoothness of their motion results are compromised when faced with noisy data, rendering them unsuitable for practical applications. To address these limitations and enhance the robustness and precision of motion capture with noise interference, we introduce LiveHPS++, an innovative and effective solution based on a single LiDAR system. Benefiting from three meticulously designed modules, our method can learn dynamic and kinematic features from human movements, and further enable the precise capture of coherent human motions in open settings, making it highly applicable to real-world scenarios. Through extensive experiments, LiveHPS++ has proven to significantly surpass existing state-of-the-art methods across various datasets, establishing a new benchmark in the field.

This paper presents the development of a comprehensive dataset capturing interactions between Autonomous Vehicles (AVs) and traffic control devices, specifically traffic lights and stop signs. Derived from the Waymo Motion dataset, our work addresses a critical gap in the existing literature by providing real-world trajectory data on how AVs navigate these traffic control devices. We propose a methodology for identifying and extracting relevant interaction trajectory data from the Waymo Motion dataset, incorporating over 37,000 instances with traffic lights and 44,000 with stop signs. Our methodology includes defining rules to identify various interaction types, extracting trajectory data, and applying a wavelet-based denoising method to smooth the acceleration and speed profiles and eliminate anomalous values, thereby enhancing the trajectory quality. Quality assessment metrics indicate that trajectories obtained in this study have anomaly proportions in acceleration and jerk profiles reduced to near-zero levels across all interaction categories. By making this dataset publicly available, we aim to address the current gap in datasets containing AV interaction behaviors with traffic lights and signs. Based on the organized and published dataset, we can gain a more in-depth understanding of AVs' behavior when interacting with traffic lights and signs. This will facilitate research on AV integration into existing transportation infrastructures and networks, supporting the development of more accurate behavioral models and simulation tools.

Video understanding requires effective modeling of both motion and appearance information, particularly for few-shot action recognition. While recent advances in point tracking have been shown to improve few-shot action recognition, two fundamental challenges persist: selecting informative points to track and effectively modeling their motion patterns. We present Trokens, a novel approach that transforms trajectory points into semantic-aware relational tokens for action recognition. First, we introduce a semantic-aware sampling strategy to adaptively distribute tracking points based on object scale and semantic relevance. Second, we develop a motion modeling framework that captures both intra-trajectory dynamics through the Histogram of Oriented Displacements (HoD) and inter-trajectory relationships to model complex action patterns. Our approach effectively combines these trajectory tokens with semantic features to enhance appearance features with motion information, achieving state-of-the-art performance across six diverse few-shot action recognition benchmarks: Something-Something-V2 (both full and small splits), Kinetics, UCF101, HMDB51, and FineGym. For project page see https://trokens-iccv25.github.io

Language-guided human following is an important capability for embodied agents, but existing benchmarks typically assume that the target person is visible at the start of an episode. This setting simplifies the problem and overlooks a more realistic requirement: an agent often needs to first find a language-described target and then persistently follow that target in a dynamic environment. While recent work has started to study human search, existing settings are typically evaluated in task-specific scenarios and often rely on stronger prior knowledge of the environment. Moreover, they usually treat searching and following as separate tasks and still lack a unified benchmark for systematic evaluation. To address these limitations, we introduce the Unified Embodied Seeking and Following Benchmark (UESF-Bench), a large-scale and diverse benchmark for embodied human seeking and following. The benchmark requires agents to handle semantic-guided exploration, reliable behavior switching and recovery, and delayed identity grounding. To this end, we propose SeekFollow-VLA, a vision-language-action framework with a task-driven routing mechanism for latent phase inference and transition modeling between seeking and following. Experimental results show that SeekFollow-VLA achieves clear improvements over both single-head and dual-head baselines across single-person and multi-person environments, establishing a baseline for unified embodied seek-and-follow.

Motor impairments, including tremor, bradykinesia, gait abnormalities, and postural instability, are common across many neurological and movement-related conditions. Conventional clinical assessments are often intermittent and may fail to capture subtle temporal variations in motor behavior. While wearable IMUs and third-person video have shown promise for objective motor assessment, third-person recordings raise privacy concerns and require constrained acquisition setups. In contrast, egocentric vision provides a more naturalistic and privacyaware alternative. In this work, we introduce EgoInertia-MI, a multimodal benchmark dataset combining synchronized egocentric video and wearable IMU signals for motor impairment analysis. The dataset contains 19 upper- and lower-body activities performed by healthy volunteers simulating varying levels of motor impairment severity levels: no impairment, mild impairment, and severe impairment. We establish two benchmark tasks: action recognition and motor impairment severity estimation, and evaluate multiple unimodal and multimodal baselines. Experimental results show that egocentric video provides strong cues for motor impairment assessment, while multimodal fusion achieves the best overall performance, reaching 0.78 Macro-F1 for severity estimation and 0.93 Macro-F1 for action recognition. These findings highlight the potential of combining egocentric vision and wearable sensing for ecologically valid and privacy-aware motor assessment. Code and data are available at:https://fatemah-alh.github.io/EgoInertia-MI-Page/.

To bridge the physical and virtual worlds for rapidly developed VR/AR applications, the ability to realistically drive 3D full-body avatars is of great significance. Although real-time body tracking with only the head-mounted displays (HMDs) and hand controllers is heavily under-constrained, a carefully designed end-to-end neural network is of great potential to solve the problem by learning from large-scale motion data. To this end, we propose a two-stage framework that can obtain accurate and smooth full-body motions with the three tracking signals of head and hands only. Our framework explicitly models the joint-level features in the first stage and utilizes them as spatiotemporal tokens for alternating spatial and temporal transformer blocks to capture joint-level correlations in the second stage. Furthermore, we design a set of loss terms to constrain the task of a high degree of freedom, such that we can exploit the potential of our joint-level modeling. With extensive experiments on the AMASS motion dataset and real-captured data, we validate the effectiveness of our designs and show our proposed method can achieve more accurate and smooth motion compared to existing approaches.

We consider the problem of segmenting objects in videos based on their motion and no other forms of supervision. Prior work has often approached this problem by using the principle of common fate, namely the fact that the motion of points that belong to the same object is strongly correlated. However, most authors have only considered instantaneous motion from optical flow. In this work, we present a way to train a segmentation network using long-term point trajectories as a supervisory signal to complement optical flow. The key difficulty is that long-term motion, unlike instantaneous motion, is difficult to model -- any parametric approximation is unlikely to capture complex motion patterns over long periods of time. We instead draw inspiration from subspace clustering approaches, proposing a loss function that seeks to group the trajectories into low-rank matrices where the motion of object points can be approximately explained as a linear combination of other point tracks. Our method outperforms the prior art on motion-based segmentation, which shows the utility of long-term motion and the effectiveness of our formulation.

Anomalies are rare and anomaly detection is often therefore framed as One-Class Classification (OCC), i.e. trained solely on normalcy. Leading OCC techniques constrain the latent representations of normal motions to limited volumes and detect as abnormal anything outside, which accounts satisfactorily for the openset'ness of anomalies. But normalcy shares the same openset'ness property since humans can perform the same action in several ways, which the leading techniques neglect. We propose a novel generative model for video anomaly detection (VAD), which assumes that both normality and abnormality are multimodal. We consider skeletal representations and leverage state-of-the-art diffusion probabilistic models to generate multimodal future human poses. We contribute a novel conditioning on the past motion of people and exploit the improved mode coverage capabilities of diffusion processes to generate different-but-plausible future motions. Upon the statistical aggregation of future modes, an anomaly is detected when the generated set of motions is not pertinent to the actual future. We validate our model on 4 established benchmarks: UBnormal, HR-UBnormal, HR-STC, and HR-Avenue, with extensive experiments surpassing state-of-the-art results.

End-to-end driving systems have recently made rapid progress, in particular on CARLA. Independent of their major contribution, they introduce changes to minor system components. Consequently, the source of improvements is unclear. We identify two biases that recur in nearly all state-of-the-art methods and are critical for the observed progress on CARLA: (1) lateral recovery via a strong inductive bias towards target point following, and (2) longitudinal averaging of multimodal waypoint predictions for slowing down. We investigate the drawbacks of these biases and identify principled alternatives. By incorporating our insights, we develop TF++, a simple end-to-end method that ranks first on the Longest6 and LAV benchmarks, gaining 14 driving score over the best prior work on Longest6.

Accurate long-horizon vessel trajectory prediction remains challenging due to compounded uncertainty from complex navigation behaviors and environmental factors. Existing methods often struggle to maintain global directional consistency, leading to drifting or implausible trajectories when extrapolated over long time horizons. To address this issue, we propose a semantic-key-point-conditioned trajectory modeling framework, in which future trajectories are predicted by conditioning on a high-level Next Key Point (NKP) that captures navigational intent. This formulation decomposes long-horizon prediction into global semantic decision-making and local motion modeling, effectively restricting the support of future trajectories to semantically feasible subsets. To efficiently estimate the NKP prior from historical observations, we adopt a pretrain-finetune strategy. Extensive experiments on real-world AIS data demonstrate that the proposed method consistently outperforms state-of-the-art approaches, particularly for long travel durations, directional accuracy, and fine-grained trajectory prediction.

Recent advancements in video diffusion models have significantly enhanced audio-driven portrait animation. However, current methods still suffer from flickering, identity drift, and poor audio-visual synchronization. These issues primarily stem from entangled appearance-motion representations and unstable inference strategies. In this paper, we introduce ConsistTalk, a novel intensity-controllable and temporally consistent talking head generation framework with diffusion noise search inference. First, we propose an optical flow-guided temporal module (OFT) that decouples motion features from static appearance by leveraging facial optical flow, thereby reducing visual flicker and improving temporal consistency. Second, we present an Audio-to-Intensity (A2I) model obtained through multimodal teacher-student knowledge distillation. By transforming audio and facial velocity features into a frame-wise intensity sequence, the A2I model enables joint modeling of audio and visual motion, resulting in more natural dynamics. This further enables fine-grained, frame-wise control of motion dynamics while maintaining tight audio-visual synchronization. Third, we introduce a diffusion noise initialization strategy (IC-Init). By enforcing explicit constraints on background coherence and motion continuity during inference-time noise search, we achieve better identity preservation and refine motion dynamics compared to the current autoregressive strategy. Extensive experiments demonstrate that ConsistTalk significantly outperforms prior methods in reducing flicker, preserving identity, and delivering temporally stable, high-fidelity talking head videos.