Organizations: Institute of Science Tokyo · Carnegie Mellon University
Abstract
Human-pet interaction estimation and generation remain underexplored due to the absence of a high-quality large-scale dataset. We present InterPet4D, the first multimodal dataset capturing natural interactions between humans and dogs. Using a synchronized multi-view capture system, we record human-dog obedience tasks and provide annotations for both humans and dogs, including multi-view and egocentric videos, segmentations, 2D and 3D keypoints, meshes, and audio tracks. InterPet4D consists of 6.8 million frames collected from 13 dogs of 11 breeds interacting with 23 human participants. We further introduce the InterPetMoGen framework for human-pet interaction motion generation. Our proposed model achieves an FID score of 11.21 and substantially outperforms the Seq2Seq and DiT baselines, demonstrating the effectiveness of InterPet4D for modeling realistic human-pet interactions.
The way humans interact with each other, including interpersonal distances, spatial configuration, and motion, varies significantly across different situations. To enable machines to understand such complex, context-dependent behaviors, it is essential to model multiple people in relation to the surrounding scene context. In this paper, we present a novel research problem to model the correlations between two people engaged in a shared interaction involving an object. We refer to this formulation as Human-Human-Object Interactions (HHOIs). To overcome the lack of dedicated datasets for HHOIs, we present a newly captured HHOIs dataset and a method to synthesize HHOI data by leveraging image generative models. As an intermediary, we obtain individual human-object interaction (HOIs) and human-human interaction (HHIs) from the HHOIs, and with these data, we train an text-to-HOI and text-to-HHI model using score-based diffusion model. Finally, we present a unified generative framework that integrates the two individual model, capable of synthesizing complete HHOIs in a single advanced sampling process. Our method extends HHOI generation to multi-human settings, enabling interactions involving more than two individuals. Experimental results show that our method generates realistic HHOIs conditioned on textual descriptions, outperforming previous approaches that focus only on single-human HOIs. Furthermore, we introduce multi-human motion generation involving objects as an application of our framework.
The conditional generation of 3D motion has emerged as a key research topic due to its wide applicability across robotics, AR/VR, gaming, and content creation. However, extending recent advances in text-driven human motion generation to the animal domain remains challenging due to two core limitations. First, animals exhibit highly diverse skeletal topologies, unlike the standard human structure, making unified modeling across species difficult and leading to inefficient per-species models. Second, existing animal motion datasets suffer from limited scale and annotation quality, constraining model performance. To address these challenges, we propose UniMo, a unified point cloud-based motion generation framework that bypasses topological discrepancies by converting parametric skeletons into unparametric representations, further enhanced by dynamic sampling that allocates more points to active joints. Additionally, we present UniML3D, a large-scale motion-language dataset spanning both human and animal categories, containing 145,907 motion sequences and 433,388 captions-over 102x larger than existing animal datasets. Our method achieves state-of-the-art results on UniML3D and three public benchmarks including HumanML3D, KIT-ML, and AnimalML3D, demonstrating the feasibility and effectiveness of unified human-animal motion generation. Website: https://steve-zeyu-zhang.github.io/UniMo.
Understanding animal motion is fundamental to modeling animal behavior and biomechanics, yet progress in this area lags far behind human motion research due to the scarcity of high-quality motion data. While human motion can be captured in controlled environments, it is impractical for most animal species, resulting in small, domain-limited datasets that restrict downstream applications such as animation. To address this challenge, we introduce Kirin, a framework that reconstructs motion from video, learns motion priors at scale, and generates realistic motion that can be directly applied to animated assets. Using large collections of in-the-wild animal videos, we reconstruct 3D motion sequences and pair them with captions to create AiM3D, the first large-scale dataset offering aligned video-text-motion tuples for quadruped animals. Building on this dataset, we develop a visual-guided motion generation model that conditions on both text and image to guide the generation of realistic motion across diverse animal species. Finally, by leveraging an off-the-shelf image-to-3D model, we automatically rig and animate 3D meshes using generated motion, producing ready-to-render animated animals. Together, our dataset and framework establish a new foundation for large-scale, text and image conditioned animal motion generation and animation. Project page: https://kirin-ani.github.io/.