Table 2.
Prediction of 3D joint positions in Human3.6M for all actions. The best results are marked in bold.
| Time (ms) | 80 | 160 | 320 | 400 | 560 | 1000 | 80 | 160 | 320 | 400 | 560 | 1000 |
| Action | Walking | Eating | ||||||||||
| Res. sup. [17] | 29.4 | 50.8 | 76.0 | 81.5 | 81.7 | 100.7 | 16.8 | 30.6 | 56.9 | 68.7 | 79.9 | 100.2 |
| convSeq2Seq [11] | 17.7 | 33.5 | 56.3 | 63.6 | 72.2 | 82.3 | 11.0 | 22.4 | 40.7 | 48.4 | 61.3 | 87.1 |
| DMGNN [13] | 17.3 | 30.7 | 54.6 | 65.2 | 73.4 | 95.8 | 11.0 | 21.4 | 36.2 | 43.9 | 58.1 | 86.7 |
| LTD [25] | 12.3 | 23.0 | 39.8 | 46.1 | 54.1 | 59.8 | 8.4 | 16.9 | 33.2 | 40.7 | 53.4 | 77.8 |
| MSR [49] | 12.2 | 22.7 | 38.6 | 45.2 | 52.7 | 63.0 | 8.4 | 17.1 | 33.0 | 40.4 | 52.5 | 77.1 |
| Hisrep [48] | 10.0 | 19.5 | 34.2 | 39.8 | 47.4 | 58.1 | 6.4 | 14.0 | 28.7 | 36.2 | 50.0 | 75.7 |
| ST-DGCN [45] | 10.2 | 19.8 | 34.5 | 40.3 | 48.1 | 56.4 | 7.0 | 15.1 | 30.6 | 38.1 | 51.1 | 76.0 |
| Our model | 10.1 | 19.2 | 33.8 | 40.2 | 46.1 | 55.4 | 7.0 | 14.3 | 30.2 | 38.5 | 48.9 | 72.6 |
| Action | Smoking | Discussion | ||||||||||
| Res. sup. [17] | 23.0 | 42.6 | 70.1 | 82.7 | 94.8 | 137.4 | 32.9 | 61.2 | 90.9 | 96.2 | 121.3 | 161.7 |
| convSeq2Seq [11] | 11.6 | 22.8 | 41.3 | 48.9 | 60.0 | 81.7 | 17.1 | 34.5 | 64.8 | 77.6 | 98.1 | 129.3 |
| DMGNN [13] | 9.0 | 17.6 | 32.1 | 40.3 | 50.9 | 72.2 | 17.3 | 34.8 | 61.0 | 69.8 | 81.9 | 138.3 |
| LTD [25] | 7.9 | 16.2 | 31.9 | 38.9 | 50.7 | 72.6 | 12.5 | 27.4 | 58.5 | 71.7 | 91.6 | 121.5 |
| MSR [49] | 8.0 | 16.3 | 31.3 | 38.2 | 49.5 | 71.6 | 12.0 | 26.8 | 57.1 | 69.7 | 88.6 | 117.6 |
| Hisrep [48] | 7.0 | 14.9 | 29.9 | 36.4 | 47.6 | 69.5 | 10.2 | 23.4 | 52.1 | 65.4 | 86.6 | 119.8 |
| ST-DGCN [45] | 6.6 | 14.1 | 28.2 | 34.7 | 46.5 | 69.5 | 10.0 | 23.8 | 53.6 | 66.7 | 87.1 | 118.2 |
| ours | 6.5 | 14.6 | 28.0 | 33.8 | 46.1 | 66.7 | 9.8 | 24.2 | 54.5 | 65.1 | 83.1 | 114.8 |
| Action | Directions | Greeting | ||||||||||
| Res. sup. [17] | 35.4 | 57.3 | 76.3 | 87.7 | 110.1 | 152.5 | 34.5 | 63.4 | 124.6 | 142.5 | 156.1 | 166.5 |
| convSeq2Seq [11] | 13.5 | 29.0 | 57.6 | 69.7 | 86.6 | 115.8 | 22.0 | 45.0 | 82.0 | 96.0 | 116.9 | 147.3 |
| DMGNN [13] | 13.1 | 24.6 | 64.7 | 81.9 | 110.1 | 115.8 | 23.3 | 50.3 | 107.3 | 132.1 | 152.5 | 157.7 |
| LTD [25] | 9.0 | 19.9 | 43.4 | 53.7 | 71.0 | 101.8 | 18.7 | 38.7 | 77.7 | 93.4 | 115.4 | 148.8 |
| MSR [49] | 8.6 | 19.7 | 43.3 | 53.8 | 71.2 | 100.6 | 16.5 | 37.0 | 77.3 | 93.4 | 116.3 | 147.2 |
| Hisrep [48] | 7.4 | 18.4 | 44.5 | 56.5 | 73.9 | 106.5 | 13.7 | 30.1 | 63.8 | 78.1 | 101.9 | 138.8 |
| ST-DGCN [45] | 7.2 | 17.6 | 40.9 | 51.5 | 69.3 | 100.4 | 15.2 | 34.1 | 71.6 | 87.1 | 110.2 | 143.5 |
| Our model | 6.9 | 17.0 | 40.7 | 49.0 | 68.0 | 98.5 | 14.6 | 33.3 | 68.5 | 86.4 | 112.0 | 135.9 |
| Action | Phoning | Posing | ||||||||||
| Res. sup. [17] | 38.0 | 69.3 | 115.0 | 126.7 | 141.2 | 131.5 | 36.1 | 69.1 | 130.5 | 157.1 | 194.7 | 240.2 |
| convSeq2Seq [11] | 13.5 | 26.6 | 49.9 | 59.9 | 77.1 | 114.0 | 16.9 | 36.7 | 75.7 | 92.9 | 122.5 | 187.4 |
| DMGNN [13] | 12.5 | 25.8 | 48.1 | 58.3 | 78.9 | 98.6 | 15.3 | 29.3 | 71.5 | 96.7 | 163.9 | 310.1 |
| LTD [25] | 10.2 | 21.0 | 42.5 | 52.3 | 69.2 | 103.1 | 13.7 | 29.9 | 66.6 | 84.1 | 114.5 | 173.0 |
| MSR citedang2021msr | 10.1 | 20.7 | 41.5 | 51.3 | 68.3 | 104.4 | 12.8 | 29.4 | 67.0 | 85.0 | 116.3 | 174.3 |
| Hisrep [48] | 8.6 | 18.3 | 39.0 | 49.2 | 67.4 | 105.0 | 10.2 | 24.2 | 58.5 | 75.8 | 107.6 | 178.2 |
| ST-DGCN [45] | 8.3 | 18.3 | 38.7 | 48.4 | 65.9 | 102.7 | 10.7 | 25.7 | 60.0 | 76.6 | 106.1 | 164.8 |
| Our model | 8.3 | 18.1 | 39.2 | 47.9 | 64.5 | 95.6 | 10.4 | 25.4 | 60.5 | 74.8 | 103.2 | 162.2 |
| Time (ms) | 80 | 160 | 320 | 400 | 560 | 1000 | 80 | 160 | 320 | 400 | 560 | 1000 |
| Action | Purchases | Sitting | ||||||||||
| Res. sup. [17] | 36.3 | 60.3 | 86.5 | 95.9 | 122.7 | 160.3 | 42.6 | 81.4 | 134.7 | 151.8 | 167.4 | 201.5 |
| convSeq2Seq [11] | 20.3 | 41.8 | 76.5 | 89.9 | 111.3 | 151.5 | 13.5 | 27.0 | 52.0 | 63.1 | 82.4 | 120.7 |
| DMGNN [13] | 21.4 | 38.7 | 75.7 | 92.7 | 118.6 | 153.8 | 11.9 | 25.1 | 44.6 | 50.2 | 60.1 | 104.9 |
| LTD [25] | 15.6 | 32.8 | 65.7 | 79.3 | 102.0 | 143.5 | 10.6 | 21.9 | 46.3 | 57.9 | 78.3 | 119.7 |
| MSR [49] | 14.8 | 32.4 | 66.1 | 79.6 | 101.6 | 139.2 | 10.5 | 22.0 | 46.3 | 57.8 | 78.2 | 120.0 |
| Hisrep [48] | 13.0 | 29.2 | 60.4 | 73.9 | 95.6 | 134.2 | 9.3 | 20.1 | 44.3 | 56.0 | 76.4 | 115.9 |
| ST-DGCN [45] | 12.5 | 28.7 | 60.1 | 73.3 | 95.3 | 133.3 | 8.8 | 19.2 | 42.4 | 53.8 | 74.4 | 116.1 |
| Our model | 12.6 | 29.1 | 59.0 | 72.4 | 91.6 | 128.3 | 8.4 | 18.5 | 40.4 | 52.9 | 72.0 | 113.6 |
| Action | Sitting Down | Taking Photo | ||||||||||
| Res. sup. [17] | 47.3 | 86.0 | 145.8 | 168.9 | 205.3 | 277.6 | 26.1 | 47.6 | 81.4 | 94.7 | 117.0 | 143.2 |
| convSeq2Seq [11] | 20.7 | 40.6 | 70.4 | 82.7 | 106.5 | 150.3 | 12.7 | 26.0 | 52.1 | 63.6 | 84.4 | 128.1 |
| DMGNN [13] | 15.0 | 32.9 | 77.1 | 93.0 | 122.1 | 168.8 | 13.6 | 29.0 | 46.0 | 58.8 | 91.6 | 120.7 |
| LTD [25] | 16.1 | 31.1 | 61.5 | 75.5 | 100.0 | 150.2 | 9.9 | 20.9 | 45.0 | 56.6 | 77.4 | 119.8 |
| MSR [49] | 16.1 | 31.6 | 62.5 | 76.8 | 102.8 | 155.5 | 9.9 | 21.0 | 44.6 | 56.3 | 77.9 | 121.9 |
| Hisrep [48] | 14.9 | 30.7 | 59.1 | 72.0 | 97.0 | 143.6 | 8.3 | 18.4 | 40.7 | 51.5 | 72.1 | 115.9 |
| ST-DGCN [45] | 13.9 | 27.9 | 57.4 | 71.5 | 96.7 | 147.8 | 8.4 | 18.9 | 42.0 | 53.3 | 74.3 | 118.6 |
| Our model | 13.8 | 27.0 | 58.1 | 72.2 | 95.7 | 143.7 | 8.2 | 18.1 | 40.6 | 51.2 | 70.9 | 117.1 |
| Action | Waiting | Walking Dog | ||||||||||
| Res. sup. [17] | 30.6 | 57.8 | 106.2 | 121.5 | 146.2 | 196.2 | 64.2 | 102.1 | 141.1 | 164.4 | 191.3 | 209.0 |
| convSeq2Seq [11] | 14.6 | 29.7 | 58.1 | 69.7 | 87.3 | 117.7 | 27.7 | 53.6 | 90.7 | 103.3 | 122.4 | 162.4 |
| DMGNN [13] | 12.2 | 24.2 | 59.6 | 77.5 | 106.0 | 136.7 | 47.1 | 93.3 | 160.1 | 171.2 | 194.0 | 182.3 |
| LTD [25] | 11.4 | 24.0 | 50.1 | 61.5 | 79.4 | 108.1 | 23.4 | 46.2 | 83.5 | 96.0 | 111.9 | 148.9 |
| MSR [49] | 10.7 | 23.1 | 48.3 | 59.2 | 76.3 | 106.3 | 20.7 | 42.9 | 80.4 | 93.3 | 111.9 | 148.2 |
| Hisrep [48] | 8.7 | 19.2 | 43.4 | 54.9 | 74.5 | 108.2 | 20.1 | 40.3 | 73.3 | 86.3 | 108.2 | 146.9 |
| ST-DGCN [45] | 8.9 | 20.1 | 43.6 | 54.3 | 72.2 | 103.4 | 18.8 | 39.3 | 73.7 | 86.4 | 104.7 | 139.8 |
| Our model | 9.2 | 19.9 | 43.6 | 53.0 | 67.3 | 100.8 | 18.5 | 37.7 | 72.8 | 87.6 | 105.8 | 137.2 |
| Action | Waiting Together | Average | ||||||||||
| Res. sup. [17] | 26.8 | 50.1 | 80.2 | 92.2 | 107.6 | 131.1 | 34.7 | 62.0 | 101.1 | 115.5 | 97.6 | 130.5 |
| convSeq2Seq [11] | 15.3 | 30.4 | 53.1 | 61.2 | 72.0 | 87.4 | 16.6 | 33.3 | 61.4 | 72.7 | 90.7 | 124.2 |
| DMGNN [13] | 14.3 | 26.7 | 50.1 | 63.2 | 83.4 | 115.9 | 17.0 | 33.6 | 65.9 | 79.7 | 103.0 | 137.2 |
| LTD [25] | 10.5 | 21.0 | 38.5 | 45.2 | 55.0 | 65.6 | 12.7 | 26.1 | 52.3 | 63.5 | 81.6 | 114.3 |
| MSR [49] | 10.6 | 20.9 | 37.4 | 43.9 | 52.9 | 65.9 | 12.1 | 25.6 | 51.6 | 62.9 | 81.1 | 114.2 |
| Hisrep [48] | 8.9 | 18.4 | 35.1 | 41.9 | 52.7 | 64.9 | 10.4 | 22.6 | 47.1 | 58.3 | 77.3 | 112.1 |
| ST-DGCN [45] | 8.7 | 18.6 | 34.4 | 41.0 | 51.9 | 64.3 | 10.3 | 22.7 | 47.4 | 58.5 | 76.9 | 110.3 |
| Our model | 8.7 | 18.5 | 33.5 | 40.5 | 50.8 | 61.4 | 10.2 | 22.3 | 46.9 | 57.7 | 75.1 | 106.9 |