📝 SummarXiv

Abstract

The way we perceive the world fundamentally shapes how we move, whether it is how we navigate in a room or how we interact with other humans. Current human motion generation methods, neglect this interdependency and use task-specific ``perception'' that differs radically from that of humans. We argue that the generation of human-like avatar behavior requires human-like perception. Consequently, in this work we present CLOPS, the first human avatar that solely uses egocentric vision to perceive its surroundings and navigate. Using vision as the primary driver of motion however, gives rise to a significant challenge for training avatars: existing datasets have either isolated human motion, without the context of a scene, or lack scale. We overcome this challenge by decoupling the learning of low-level motion skills from learning of high-level control that maps visual input to motion. First, we train a motion prior model on a large motion capture dataset. Then, a policy is trained using Q-learning to map egocentric visual inputs to high-level control commands for the motion prior. Our experiments empirically demonstrate that egocentric vision can give rise to human-like motion characteristics in our avatars. For example, the avatars walk such that they avoid obstacles present in their visual field. These findings suggest that equipping avatars with human-like sensors, particularly egocentric vision, holds promise for training avatars that behave like humans.