EmbodMocap: In-the-Wild 4D Human-Scene Reconstruction
for Embodied Agents

Wenjia Wang1     Liang Pan1      Huaijin Pi1      Yuke Lou1      Xuqian Ren2      Yifan Wu1      Zhouyingcheng Liao1      et al.1

1The University of Hong Kong 2Tampere University

arXiv(Coming Soon) Code(Coming Soon) Data(Coming Soon)
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4D Human & Scene Reconstruction results:
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The dataset captured by our method:
Captured Seq
0505step2_seq0:
Captured Seq
0615stairs1_seq3:
Captured Seq
0618stair1_seq0:

Captured Seq
0902bedroom1_seq8:
Captured Seq
0914livingroom1_seq13:



Motion tracking results:
Scene Aware Tracking
0505step2_seq0:
Scene Aware Tracking
0615stairs1_seq3:

Scene Aware Tracking
0902bedroom1_seq8:
Scene Aware Tracking
0914livingroom1_seq13:

HOI Skill results:
Climb / monocular data:
Climb / opticalmocap data:
Climb / our data:

Sit / monocular data:
Sit / opticalmocap data:
Sit / our data:

Prone / monocular data:
Prone / our data:

Support / monocular data:
Support / our data:

Support2 / monocular data:
Support2 / our data:

Humanoid Robot results:
Seq 1 / Squat:
Seq 2 / Lunge:
Seq 3 / Carwheel: