Whole-Body Motion

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7 papers in the last four weeks, up 133% on the four weeks before. 0.1% of all new papers.

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Latest papers 29

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SonarVoxNet: Diver Detection in 3D Bounding Box using 3D Sonar
Oct 1, 2026Eugene Park, Jiwon Lee, Seyoung Kan +3Forward-Looking Sonar Autonomous Underwater Vehicles
History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots
Sep 22, 2026Hang Yang, Tingcong Liu, Junjie Xiong +2Human Motion Prediction Soft Robotics
Learning Slope-Adaptive Whole-Body Locomotion for Humanoid Robots in Roofing Construction
Sep 17, 2026Songyang Liu, Shuai LiLocomotion Whole-Body Motion
Ph.D. Student, Department of Civil and Coastal Engineering, University of Florida, Gainesville, FL 32611. · Associate Professor, Department of Civil and Coastal Engineering, University of Florida, Gainesville, FL 32611 (corresponding author).
OHRID-Retail: An Open Multimodal Dataset of Human Activity in Retail Environments
Sep 16, 2026Xiangrui Wang, Yuetong Wu, Jalen Beeman +6Human-Robot Interaction Multimodal Dataset
Department of Industrial and Systems Engineering, University of Florida, Gainesville, FL, USA. · Lane Department of Computer Science and Electrical Engineering, West Virginia University, Morgantown, WV, USA · Department of Mechanical, Materials and Aerospace Engineering, West Virginia University, Morgantown, WV, USA. +1
WholeBodyWAM: Learning Whole-Body World Action Models with Scalable Motion Priors
Sep 16, 2026Bowei Zhang, Qiyao Zhang, Shuanghao Bai +8Whole-Body Motion Whole-Body
Nankai University · Beijing Innovation Center of Humanoid Robotics · Beijing Institute of Technology +1
TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model
Sep 8, 2026Anqi Li, Yuxin Chen, Zhaobo Li +4Vision-Language Navigation Diffusion-Based Vision-Language-Actions
University of California, Berkeley · Peking University · Tsinghua University +2
PGMT: Perceptive General Motion Tracking for Humanoid Robots
Sep 8, 2026Hongyi Li, Li Peizhuo, Yucheng Tao +9Human Motion Motion Estimation
Center of X-Mechanics, Zhejiang University, Hangzhou, China. · MARMot Lab, National University of Singapore, Singapore · MirrorMe Technology Co., Ltd.
HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction
Aug 17, 2026Jiahao Ji, Ji Ma, Runhan Zhang +12Training-Set Long-Tail Motions Human Motion
Noitom Robotics · National University of Singapore · The University of Hong Kong +2
LiveAnimate: Stable Long-Form Streaming Human Animation in Real-Time
Aug 12, 2026Yuxuan Zhang, Haozhong Xiong, Yubo Huang +6Video Diffusion Models Streaming
The Chinese University of Hong Kong · Qwen Applications Business Group of Alibaba · Liblib AI
Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space
Aug 10, 2026Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora +2Haptic Feedback Immersion
Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Aichi, 464-8603, Japan · Department of Mechanical Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan · Center for One Medicine Innovative Translational Research, Gifu University, Yanagido 1-1, Gifu, Gifu 501-1193, Japan +1
Surface Keypoint Representation for Multi-Object and Articulated Human-Object Interaction Generation
Aug 4, 2026Xiaogang Peng, Zeyu Han, Zichong Meng +4Articulated Objects Whole-Body Motion
Northeastern University, USA · Xi’an Jiaotong University, China · Amazon, USA
Teleopit: A Full-Embodiment Humanoid Teleoperation System
Aug 3, 2026Bingqian Wu, Zicheng Xu, Xianghui Fan +2Teleoperation Cross-Embodiment Retargeting
Westlake University · Shanghai Innovation Institute
Astrolabe: Spherical-Map Guidance Across Diffusion Pipelines for Full-Body Capture from Unconstrained Images
Aug 2, 2026Shuliang Zhu, Qi Wang, Ryugo Morita +1Whole-Body Motion Diffusion Models
First Deployable Dynamic-CoM: A Unified Policy and Method-Agnostic Benchmark for Humanoid Single-Leg Balance
Aug 1, 2026Yikai Zhou, Xingyun Wang, Jieming Cui +4Whole-Body Motion Balance
Peking University
SONG: A Photorealistic 3D Gaussian Simulation Platform for Benchmarking Social Navigation
Jul 28, 2026Weiqi Huang, Dianyi Yang, Jiaxin Li +4Safe Navigation 3D Gaussian
School of Computer Science & Technology, Beijing Institute of Technology
GIRAF: Towards Generalizable Human Interactions with Articulated Objects
Jul 8, 2026Xiaohan Zhang, Sebastian Starke, Alexander Winkler +3Articulated Objects Whole-Body Motion
Tübingen AI Center, University of Tübingen · Max Planck Institute for Informatics, Saarland Informatics Campus · Meta Reality Labs Research
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
Jun 29, 2026Yen-Jen Wang, Jiaman Li, Sirui Chen +9Humanoid Loco-Manipulation Robot Trajectories
Amazon FAR · UC Berkeley · Stanford University +1
VolHuMe: a High-Resolution Large Scale Dataset of Volumetric Human Meshes
Jun 22, 2026Giulia Martinelli, Niccolò Bisagno, Nicola Garau +2Avatar Reconstruction Human Mesh Recovery
University of Trento, Trento, Italy · CNIT, Italy · Tampere University, Tampere, Finland
SWIM: Single-Instance Whole-Body Imitation for swiMming
May 29, 2026Binglun Wang, Edmond S. L. Ho, He WangMotion Imitation Whole-Body Motion
University College London · University of Glasgow
SalsaAgent: A multimodal embodied language model for interactive dance generation
May 28, 2026Payam Jome Yazdian, Zoe Stanley, Angelica LimWhole-Body Motion Nonverbal Cues
Simon Fraser University, Burnaby, Canada
DiscoForcing: A Unified Framework for Real-Time Audio-Driven Character Control with Diffusion Forcing
May 27, 2026Kaiyang Ji, Bingsheng Qian, Binghuan Wu +3Duet Autoregressive Diffusion
1ShanghaiTech University · 2InstAdapt.
Millimeter-wave Imaging for Anthropometric Body Measurement
May 21, 2026Miriam Senne, Benjamin D. Killeen, Christoph Baur +2Stable Anthropometric Priors Millimeter Wave
Chair for Computer Aided Medical Procedures Technical University of Munich, Boltzmannstr. 3, 85748 Garching, Germany · ELLIS Unit Helsinki, Dept. Computer Science, Aalto University, Espoo, Finland · Rohde & Schwarz GmbH & Co. KG +1
AnyMo: Geometry-Aware Setup-Agnostic Modeling of Human Motion in the Wild
May 21, 2026Baiyu Chen, Zechen Li, Wilson Wongso +5Human Motion Whole-Body Motion
The University of New South Wales · The Hong Kong University of Science and Technology (Guangzhou) · The Hong Kong University of Science and Technology
Quantifying Full-Body Immersion
May 21, 2026Alihan Bakir, Ekrem Yüksel, Fabio Zuliani +3Immersion Whole-Body Motion
Reconfigurable Robotics Lab, EPFL, MED 1 2313 Building MED Station 9, Lausanne, 1015, Vaud, Switzerland.
BodyReLux: Temporally Consistent Full-Body Video Relighting
May 20, 2026Li Ma, Mingming He, Xueming Yu +4Image Relighting Lighting
Eyeline Labs, United States of America · Eyeline Labs, Canada · Eyeline Labs +2
Dynamic Full-body Motion Agent with Object Interaction via Blending Pre-trained Modular Controllers
May 12, 2026Sanghyeok Nam, Byoungjun Kim, Daehyung Park +1Articulated Objects Whole-Body Motion
KAIST
Motion-Adapter: A Diffusion Model Adapter for Text-to-Motion Generation of Compound Actions
Apr 17, 2026Yue Jiang, Mingyu Yang, Liuyuxin Yang +3Text-To-Motion Generation Whole-Body Motion
School of Computer Science, Northwest University, Xi’an, China
A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
Sep 18, 2025Xingyu Chen, Hanyu Wu, Sikai Wu +7Cross-Embodiment Retargeting Human Motion
1HKUST(GZ) · 4Xiaomi Robotics Lab · 2ETH Zurich +1
PSHuman: Photorealistic Single-image 3D Human Reconstruction using Cross-Scale Multiview Diffusion and Explicit Remeshing
Sep 16, 2024Peng Li, Wangguandong Zheng, Yuan Liu +9Avatar Reconstruction Humanml3D
HKUST · Southeast University · Tsinghua University +1

Oct 1, 2026, cs.ROJ/K move · Enter open · S save

SonarVoxNet: Diver Detection in 3D Bounding Box using 3D Sonar

Eugene Park, Jiwon Lee, Seyoung Kan, Trung Dong+2

Forward-Looking Sonar Autonomous Underwater Vehicles 3D Object Detection Bounding Box Whole-Body Motion

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Autonomous underwater vehicles (AUVs) assisting human divers must continuously track not only the diver's 3D position but also their full-body orientation. However, vision-based perception is unreliable underwater, and forward-looking sonar -- despite being widely used -- discards the elevation information needed for orientation estimation, posing a fundamental limitation. Recently commercialized 3D sonar preserves elevation but produces sparse, noisy returns, and existing detectors are built for dense LiDAR data and for targets that remain upright and rotate only about the yaw axis (e.g., vehicles, pedestrians), making them unable to represent a freely pitching and rolling diver. To address this gap, we present two contributions. First, SonarVoxNet adapts a voxel-based encoder and an anchor-free center-based detection head to 3D sonar data, replacing the conventional yaw-only rotation representation with a continuous 6D rotation parameterization to predict full 9-DoF oriented bounding boxes -- to our knowledge, the first 3D sonar diver detector to do so. Second, Diver3D is the first public 3D sonar dataset with full 3D orientation labels for divers in diverse, non-upright poses, collected at a natural cave-diving site. Through controlled ablations over the backbone and detection head, we show that the dominant factor behind accurate 3D sonar-based diver detection is the transition from yaw-only rotation to full-SO(3) rotation. This transition substantially improves detection accuracy and reduces orientation error. These results demonstrate that full-body diver orientation is recoverable from 3D sonar alone, laying the groundwork for future work on diver pose estimation and diver-robot interaction.

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Latest papers 29