:housewithgarden: SNU ParaHome

July 7, 2025 · View on GitHub

ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactions (CVPR 2025)

Jeonghwan Kim*, Jisoo Kim*, Jeonghyeon Na, Hanbyul Joo
[Project Page] [Paper] [Supp. Video]

Image

This is a repository of the ParaHome system. Our system is designed to capture human-object interaction in a natural home environment. We parameterized all 3D movements of body, hands, and objects and captured large-scale dataset for human-object interaction.

News

  • 2025.07.07: Contact computation between meshes is now available!
  • 2025.05.15: SMPL-X rendering option is updated!
  • 2025.01.21: SMPL-X pose/shape parameters released!
  • 2024.08.29: 🎉 ParaHome dataset has been released! 🎉
  • 2024.05.01: ParaHome demo data is available!

Summary

  • Total 486 minutes, 207 sequences from 38 subjects!
  • Scanned, parameterized 22 Objects
  • Human Objects Interaction in a natural room setting.
  • Dexterous hand manipulation and body motion data.
  • Interaction with multiple articulated objects.
  • Capture natural sequential manipulation scenes.
  • Text annotations for each action

Important Notes

  • The text descriptions for each action are formatted into the text_annotation.json file located within each scene directory.
  • Items retrieved from the under-sink cabinet are filled manually due to the absence of cameras inside the cabinet. Thus, some of data may not accurately be physically aligned with its actual location, and some penetration errors may occur.

Download ParaHome Data

mkdir data

scan : https://drive.google.com/file/d/1-OuWvVFOFCEhut7J2t1kNbr5jv78QNFP/view?usp=sharing
seq : https://drive.google.com/file/d/10MYSSM2H7f6g2n9nnXta48qmAhZ7r4yd/view?usp=sharing
demo : https://drive.google.com/file/d/1hx3p3uOLEmGoCsaZ_x5ibffuX4zLiq6s/view?usp=sharing
metadata : https://drive.google.com/file/d/1jPRCsotiep0nElHgyLQNjlkHsWgHbjhi/view?usp=sharing
joint_info : https://drive.google.com/file/d/15fGnZn8o4I2bzQtQF-9MliwxKc2IUdzI/view?usp=sharing
smplx_seq : https://drive.google.com/file/d/1Zzj-umCtpcU4QmI4vSjlPShOSHL5sZMX/view?usp=sharing

Unzip and move scan, seq directories into data directory

.
├── assets
├── visualize
├── data
│   ├── scan
└── └── seq
│       ├── s1 ~ s207
│       └── ├── text_annotations.json
│       └── ├── object_transformations.pkl
│       └── ├── object_in_scene.json
│       └── ├── joint_states.pkl
│       └── ├── joint_positions.pkl
│       └── ├── head_tips.pkl
│       └── ├── hand_joint_orientations.pkl
│       └── ├── bone_vectors.pkl
│       └── ├── body_joint_orientations.pkl
│       └── └── body_global_transform.pkl
└── ─── metadata.json

Each data represents

  • text_annotations.json : Action descriptions at each frame interval of sequences
  • object_transformations.pkl : per-frame transformations of each object in the scene
  • object_in_scene.json : Indicator of whether object is in the scene or not
  • joint_states.pkl : Joint state(either radian for revolute part or meter for prismatic part) of each part of the articulated objects
  • joint_positions.pkl : Joint global positions of capture participants
  • head_tips.pkl : Head tip position of participants (head size is assumed)
  • hand_joint_orientations.pkl : Joint orientation of each hand joint in hand-centered coordinate system
  • bone_vectors.pkl : T-Pose (with no orientation applied) with each bone length applied
  • body_joint_orientations.pkl : Joint orientation of each body joint in body-centered coordinate system
  • body_global_transform.pkl : Transform between body-centered coordinate and global coordinate system
  • metadata.json : Mapping between capture participants to each sequence

Environment Setting

Check out install.md

Visualize Demo files

To visualize the demo parahome data, select sequence path in the data/seq directory and execute the command

cd visualize
python render.py --scene_root data/seq/s1
  • Our rendering code supports an egocentric option. Use the egocentric rendering with --ego option.
  • Our code also supports SMPL-X rendering option. Run the rendering with --smplx option.

Citation

@misc{kim2024parahome,
      title={ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactions}, 
      author={Jeonghwan Kim and Jisoo Kim and Jeonghyeon Na and Hanbyul Joo},
      year={2024},
      eprint={2401.10232},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}

License

The ParaHome Dataset is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License and is intended for non-commercial academic use. By using the dataset and its associated software, you agree to cite the relevant paper in any publications resulting from your use of these resources.