Table 1.
The joint angle error and average angle error of all actions compared with baselines on Human3.6M
| Milliseconds | 80 | 160 | 320 | 400 | 80 | 160 | 320 | 400 | 80 | 160 | 320 | 400 | 80 | 160 | 320 | 400 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Walking | Eating | Smoking | Discussion | |||||||||||||
| Res. sup. [14] | 0.28 | 0.49 | 0.72 | 0.81 | 0.23 | 0.39 | 0.62 | 0.76 | 0.23 | 0.39 | 0.62 | 0.76 | 0.31 | 0.68 | 1.01 | 1.09 |
| convSeq2Seq [3] | 0.33 | 0.54 | 0.68 | 0.73 | 0.22 | 0.36 | 0.58 | 0.71 | 0.26 | 0.49 | 0.96 | 0.92 | 0.32 | 0.67 | 0.94 | 1.01 |
| Multi-Gan [39] | 0.23 | 0.51 | 0.62 | 0.66 | 0.20 | 0.31 | 0.49 | 0.66 | 0.25 | 0.46 | 0.88 | 0.88 | 0.28 | 0.55 | 0.81 | 0.92 |
| OoD [40] | 0.23 | 0.37 | 0.58 | 0.63 | 0.21 | 0.37 | 0.59 | 0.72 | 0.27 | 0.54 | 1.03 | 1.03 | 0.30 | 0.66 | 0.94 | 1.02 |
| DMGNN [22] | 0.18 | 0.31 | 0.49 | 0.58 | 0.17 | 0.30 | 0.49 | 0.59 | 0.21 | 0.39 | 0.81 | 0.77 | 0.26 | 0.65 | 0.92 | 0.99 |
| ST-Conv [29] | 0.19 | 0.34 | 0.57 | 0.63 | 0.16 | 0.29 | 0.50 | 0.60 | 0.22 | 0.41 | 0.85 | 0.81 | 0.22 | 0.57 | 0.84 | 0.98 |
| POTR-GCN [30] | 0.16 | 0.40 | 0.62 | 0.73 | 0.11 | 0.29 | 0.53 | 0.68 | 0.14 | 0.39 | 0.84 | 0.82 | 0.17 | 0.52 | 0.79 | 0.88 |
| ST-Transformer [34] | 0.21 | 0.36 | 0.58 | 0.63 | 0.17 | 0.30 | 0.49 | 0.60 | 0.22 | 0.43 | 0.88 | 0.82 | 0.19 | 0.52 | 0.79 | 0.88 |
| HRI [27] | 0.18 | 0.30 | 0.46 | 0.51 | 0.16 | 0.29 | 0.49 | 0.60 | 0.22 | 0.40 | 0.86 | 0.80 | 0.20 | 0.52 | 0.78 | 0.87 |
| Ours | 0.19 | 0.33 | 0.49 | 0.57 | 0.16 | 0.30 | 0.51 | 0.62 | 0.33 | 0.61 | 1.05 | 1.15 | 0.21 | 0.47 | 0.71 | 0.78 |
| Direction | Greeting | Phoning | Posing | |||||||||||||
| Res. sup. [14] | 0.26 | 0.47 | 0.72 | 0.84 | 0.75 | 1.17 | 1.74 | 1.83 | 0.23 | 0.43 | 0.69 | 0.82 | 0.36 | 0.71 | 1.22 | 1.48 |
| convSeq2Seq [3] | 0.39 | 0.60 | 0.80 | 0.91 | 0.51 | 0.82 | 1.21 | 1.38 | 0.59 | 1.13 | 1.51 | 1.65 | 0.29 | 0.60 | 1.12 | 1.37 |
| Multi-Gan [39] | 0.36 | 0.57 | - | 0.89 | 0.51 | 0.86 | - | 1.36 | 0.54 | 1.05 | - | 1.58 | 0.22 | 0.51 | - | 1.41 |
| OoD [40] | 0.38 | 0.58 | 0.79 | 0.90 | 0.49 | 0.81 | 1.24 | 1.43 | 0.57 | 1.10 | 1.48 | 1.61 | 0.26 | 0.56 | 1.26 | 1.55 |
| DMGNN [22] | 0.32 | 0.65 | 0.93 | 1.05 | 0.36 | 0.61 | 0.94 | 1.12 | 0.52 | 0.97 | 1.29 | 1.43 | 0.20 | 0.46 | 1.06 | 1.34 |
| ST-Conv [29] | 0.24 | 0.43 | 0.77 | 0.81 | 0.35 | 0.61 | 1.01 | 1.20 | 0.53 | 1.00 | 1.28 | 1.40 | 0.26 | 0.51 | 1.08 | 1.32 |
| POTR-GCN [30] | 0.20 | 0.45 | 0.79 | 0.91 | 0.29 | 0.69 | 1.17 | 1.30 | 0.50 | 1.04 | 1.41 | 1.54 | 0.61 | 0.68 | 1.05 | 1.28 |
| ST-Transformer [34] | 0.25 | 0.38 | 0.75 | 0.86 | 0.35 | 0.61 | 1.10 | 1.32 | 0.53 | 1.04 | 1.41 | 1.54 | 0.61 | 0.68 | 1.05 | 1.28 |
| HRI [27] | 0.25 | 0.43 | 0.60 | 0.69 | 0.35 | 0.60 | 0.95 | 1.14 | 0.53 | 1.01 | 1.31 | 1.43 | 0.19 | 0.46 | 1.09 | 1.35 |
| Ours | 0.27 | 0.43 | 0.67 | 0.76 | 0.33 | 0.59 | 0.90 | 1.05 | 0.42 | 0.82 | 1.29 | 1.16 | 0.25 | 0.49 | 1.02 | 1.24 |
| Purchases | Sitting | Sittingdown | Takingphoto | |||||||||||||
| Res. sup. [14] | 0.51 | 0.97 | 1.07 | 1.16 | 0.41 | 1.05 | 1.49 | 1.63 | 0.39 | 0.81 | 1.40 | 1.62 | 0.24 | 0.51 | 0.90 | 1.05 |
| convSeq2Seq [3] | 0.63 | 0.91 | 1.19 | 1.29 | 0.39 | 0.61 | 1.02 | 1.18 | 0.41 | 0.78 | 1.16 | 1.31 | 0.23 | 0.49 | 0.88 | 1.06 |
| Multi-Gan [39] | 0.55 | 0.85 | - | 1.23 | 0.35 | 0.60 | - | 1.13 | 0.36 | 0.72 | - | 1.20 | 0.23 | 0.41 | - | 0.99 |
| OoD [40] | 0.61 | 0.89 | 1.27 | 1.37 | 0.38 | 0.62 | 1.06 | 1.22 | 0.41 | 0.83 | 1.28 | 1.41 | 0.25 | 0.51 | 0.81 | 0.95 |
| DMGNN [22] | 0.41 | 0.61 | 1.05 | 1.14 | 0.26 | 0.42 | 0.76 | 0.97 | 0.32 | 0.65 | 0.93 | 1.05 | 0.15 | 0.34 | 0.58 | 0.71 |
| ST-Conv [29] | 0.42 | 0.61 | 1.08 | 1.15 | 0.30 | 0.49 | 0.90 | 1.09 | 0.29 | 0.65 | 0.97 | 1.08 | 0.15 | 0.34 | 0.58 | 0.72 |
| POTR-GCN [30] | 0.33 | 0.63 | 1.04 | 1.09 | 0.25 | 0.47 | 0.92 | 1.09 | 0.25 | 0.63 | 1.00 | 1.12 | 0.12 | 0.41 | 0.71 | 0.86 |
| ST-Transformer [34] | 0.43 | 0.77 | 1.30 | 1.37 | 0.29 | 0.46 | 0.84 | 1.01 | 0.32 | 0.66 | 0.98 | 1.10 | 0.15 | 0.38 | 0.64 | 0.75 |
| HRI [27] | 0.42 | 0.65 | 1.00 | 1.07 | 0.29 | 0.47 | 0.83 | 1.01 | 0.30 | 0.63 | 0.92 | 1.04 | 0.16 | 0.36 | 0.58 | 0.70 |
| Ours | 0.43 | 0.62 | 0.90 | 0.96 | 0.30 | 0.45 | 0.77 | 0.94 | 0.40 | 0.45 | 0.77 | 0.94 | 0.16 | 0.35 | 0.57 | 0.69 |
| Waiting | Walkingdog | Walkingtogether | Average | |||||||||||||
| Res. sup. [14] | 0.28 | 0.53 | 1.02 | 1.14 | 0.56 | 0.91 | 1.26 | 1.40 | 0.31 | 0.58 | 0.87 | 0.91 | 0.36 | 0.67 | 1.02 | 1.15 |
| convSeq2Seq [3] | 0.30 | 0.62 | 1.09 | 1.30 | 0.59 | 1.00 | 1.32 | 1.44 | 0.27 | 0.52 | 0.71 | 0.74 | 0.38 | 0.68 | 1.01 | 1.13 |
| Multi-Gan [39] | 0.23 | 0.56 | - | 1.29 | 0.53 | 0.85 | - | 1.33 | 0.22 | 0.45 | - | 0.73 | 0.37 | 0.67 | - | 1.43 |
| OoD [40] | 0.29 | 0.58 | 1.06 | 1.29 | 0.52 | 0.88 | 1.17 | 1.34 | 0.21 | 0.44 | 0.66 | 0.74 | 0.37 | 0.63 | 1.08 | 1.18 |
| DMGNN [22] | 0.22 | 0.49 | 0.88 | 1.10 | 0.42 | 0.72 | 1.16 | 1.34 | 0.15 | 0.33 | 0.50 | 0.57 | 0.27 | 0.52 | 0.83 | 0.95 |
| ST-Conv [29] | 0.21 | 0.51 | 0.97 | 1.17 | 0.43 | 0.78 | 1.10 | 1.24 | 0.15 | 0.32 | 0.50 | 0.54 | 0.27 | 0.52 | 0.87 | 0.98 |
| POTR-GCN [30] | 0.17 | 0.56 | 1.14 | 1.37 | 0.35 | 0.79 | 1.21 | 1.33 | 0.15 | 0.44 | 0.63 | 0.70 | 0.22 | 0.56 | 0.94 | 1.01 |
| ST-Transformer [34] | 0.22 | 0.51 | 0.98 | 1.22 | 0.43 | 0.78 | 1.15 | 1.30 | 0.17 | 0.37 | 0.58 | 0.62 | 0.30 | 0.55 | 0.90 | 1.02 |
| HRI [27] | 0.22 | 0.49 | 0.92 | 1.14 | 0.46 | 0.78 | 1.05 | 1.23 | 0.14 | 0.32 | 0.50 | 0.55 | 0.27 | 0.52 | 0.82 | 0.94 |
| Ours | 0.24 | 0.47 | 0.85 | 1.04 | 0.43 | 0.73 | 1.03 | 1.18 | 0.17 | 0.36 | 0.51 | 0.57 | 0.28 | 0.50 | 0.80 | 0.89 |
The best results are presented in bold, and the sub-optimal results are presented in italics