Our model generates realistic finger movements, ensuring more accurate contact and less penetration.
Human-Object Interaction from Human-Level Instructions
Abstract
Intelligent agents need to autonomously navigate and interact within contextual environments to perform a wide range of daily tasks based on human-level instructions. These agents require a foundational understanding of the world, incorporating common sense and knowledge, to interpret such instructions. Moreover, they must possess precise low-level skills for movement and interaction to execute the detailed task plans derived from these instructions.
In this work, we address the task of synthesizing continuous human-object interactions for manipulating large objects within contextual environments, guided by human-level instructions. Our goal is to generate synchronized object motion, full-body human motion, and detailed finger motion, all essential for realistic interactions. Our framework consists of a large language model (LLM) planning module and a low-level motion generator. We use LLMs to deduce spatial object relationships and devise a method for accurately determining their positions and orientations in target scene layouts. Additionally, the LLM planner outlines a detailed task plan specifying a sequence of sub-tasks. This task plan, along with the target object poses, serves as input for our low-level motion generator, which seamlessly alternates between navigation and interaction modules.
We present the first complete system that can synthesize object motion, full-body motion, and finger motion simultaneously from human-level instructions. Our experiments demonstrate the effectiveness of our high-level planner in generating plausible target layouts and our low-level motion generator in synthesizing realistic interactions for diverse objects.
Method Overview
Our system takes the initial scene layout and human-level instruction as input, and uses a high-level planner to obtain the target scene layout and a detailed task plan. The low-level motion generator then generates synchronized object motion, full-body human motion and finger motion.