arXiv subjects

Pradyumna YM

Publications and source records attributed to Pradyumna YM.

6 recordsLinked to original sources

arXiv2026

GRAFT: Geometric Refinement and Fitting Transformer for Human Scene Reconstruction

Reconstructing physically plausible 3D human-scene interactions (HSI) from a single image currently presents a trade-off: optimization based methods offer accurate contact but are slow (~20s), while feed-forward approaches are fast yet lack explicit interaction reasoning, producing floating and interpenetration artifacts. Our key insight is that geometry-based human--scene fitting can be amortized into fast feed-forward inference. We present GRAFT (Geometric Refinement And Fitting Transformer), a learned HSI prior that predicts Interaction Gradients: corrective parameter updates that iteratively refine human meshes by reasoning about their 3D relationship to the surrounding scene. GRAFT encodes the interaction state into compact body-anchored tokens, each grounded in the scene geometry via Geometric Probes that capture spatial relationships with nearby surfaces. A lightweight transformer recurrently updates human meshes and re-probes the scene, ensuring the final pose aligns with both learned priors and observed geometry. GRAFT operates either as an end-to-end reconstructor using image features, or with geometry alone as a transferable plug-and-play HSI prior that improves feed-forward methods without retraining. Experiments show GRAFT improves interaction quality by up to 122% over state-of-the-art feed-forward methods and matches optimization-based interaction quality at ${\sim}100{\times}$ lower runtime, while generalizing seamlessly to in-the-wild multi-person scenes and being preferred in 64.8% of three-way user study. Project page: https://pradyumnaym.github.io/graft .

cs.CV↗

arXiv2026

InHabit: Leveraging Image Foundation Models for Scalable 3D Human Placement

Training embodied agents to understand 3D scenes as humans do requires large-scale data of people meaningfully interacting with diverse environments, yet such data is scarce. Real-world capture is costly and limited to controlled settings, while existing synthetic datasets rely on simple geometric heuristics, ignoring rich scene context. In contrast, 2D foundation models trained at internet scale have acquired commonsense knowledge of human-environment interactions. To transfer this knowledge to 3D, we introduce InHabit, an automatic and scalable data generator for populating 3D scenes with interacting humans. InHabit follows a render-generate-lift principle: given a rendered 3D scene, a vision-language model proposes contextually meaningful actions, an image-editing model inserts a human, and an optimization procedure lifts the edited result into physically plausible SMPL-X bodies aligned with the scene geometry. Applied to Habitat-Matterport3D, InHabit produces InHabitants, the first large-scale photorealistic 3D human-scene interaction dataset, with 78K samples across $\sim$800 building-scale scenes with complete 3D geometry, SMPL-X bodies, and images. Augmenting standard training data with InHabitants improves RGB-based 3D human-scene reconstruction and contact estimation, and in a perceptual user study our data is preferred in 78% of cases over prior art.

cs.CV↗

arXiv2023

Aligning Non-Causal Factors for Transformer-Based Source-Free Domain Adaptation

Conventional domain adaptation algorithms aim to achieve better generalization by aligning only the task-discriminative causal factors between a source and target domain. However, we find that retaining the spurious correlation between causal and non-causal factors plays a vital role in bridging the domain gap and improving target adaptation. Therefore, we propose to build a framework that disentangles and supports causal factor alignment by aligning the non-causal factors first. We also investigate and find that the strong shape bias of vision transformers, coupled with its multi-head attention, make it a suitable architecture for realizing our proposed disentanglement. Hence, we propose to build a Causality-enforcing Source-Free Transformer framework (C-SFTrans) to achieve disentanglement via a novel two-stage alignment approach: a) non-causal factor alignment: non-causal factors are aligned using a style classification task which leads to an overall global alignment, b) task-discriminative causal factor alignment: causal factors are aligned via target adaptation. We are the first to investigate the role of vision transformers (ViTs) in a privacy-preserving source-free setting. Our approach achieves state-of-the-art results in several DA benchmarks.

cs.CV↗

arXiv2023

PwR: Exploring the Role of Representations in Conversational Programming

Large Language Models (LLMs) have revolutionized programming and software engineering. AI programming assistants such as GitHub Copilot X enable conversational programming, narrowing the gap between human intent and code generation. However, prior literature has identified a key challenge--there is a gap between user's mental model of the system's understanding after a sequence of natural language utterances, and the AI system's actual understanding. To address this, we introduce Programming with Representations (PwR), an approach that uses representations to convey the system's understanding back to the user in natural language. We conducted an in-lab task-centered study with 14 users of varying programming proficiency and found that representations significantly improve understandability, and instilled a sense of agency among our participants. Expert programmers use them for verification, while intermediate programmers benefit from confirmation. Natural language-based development with LLMs, coupled with representations, promises to transform software development, making it more accessible and efficient.

cs.HC↗

arXiv2022

Non-Local Latent Relation Distillation for Self-Adaptive 3D Human Pose Estimation

Available 3D human pose estimation approaches leverage different forms of strong (2D/3D pose) or weak (multi-view or depth) paired supervision. Barring synthetic or in-studio domains, acquiring such supervision for each new target environment is highly inconvenient. To this end, we cast 3D pose learning as a self-supervised adaptation problem that aims to transfer the task knowledge from a labeled source domain to a completely unpaired target. We propose to infer image-to-pose via two explicit mappings viz. image-to-latent and latent-to-pose where the latter is a pre-learned decoder obtained from a prior-enforcing generative adversarial auto-encoder. Next, we introduce relation distillation as a means to align the unpaired cross-modal samples i.e. the unpaired target videos and unpaired 3D pose sequences. To this end, we propose a new set of non-local relations in order to characterize long-range latent pose interactions unlike general contrastive relations where positive couplings are limited to a local neighborhood structure. Further, we provide an objective way to quantify non-localness in order to select the most effective relation set. We evaluate different self-adaptation settings and demonstrate state-of-the-art 3D human pose estimation performance on standard benchmarks.

cs.CV↗

arXiv2022

Uncertainty-Aware Adaptation for Self-Supervised 3D Human Pose Estimation

The advances in monocular 3D human pose estimation are dominated by supervised techniques that require large-scale 2D/3D pose annotations. Such methods often behave erratically in the absence of any provision to discard unfamiliar out-of-distribution data. To this end, we cast the 3D human pose learning as an unsupervised domain adaptation problem. We introduce MRP-Net that constitutes a common deep network backbone with two output heads subscribing to two diverse configurations; a) model-free joint localization and b) model-based parametric regression. Such a design allows us to derive suitable measures to quantify prediction uncertainty at both pose and joint level granularity. While supervising only on labeled synthetic samples, the adaptation process aims to minimize the uncertainty for the unlabeled target images while maximizing the same for an extreme out-of-distribution dataset (backgrounds). Alongside synthetic-to-real 3D pose adaptation, the joint-uncertainties allow expanding the adaptation to work on in-the-wild images even in the presence of occlusion and truncation scenarios. We present a comprehensive evaluation of the proposed approach and demonstrate state-of-the-art performance on benchmark datasets.

cs.CV↗