---
title: PoseShield Collision Fix
emoji: 🛡️
colorFrom: indigo
colorTo: blue
sdk: gradio
sdk_version: 6.15.1
app_file: app.py
short_description: Fix self-collisions in SMPL-H poses via neural fields
python_version: "3.12"
startup_duration_timeout: 30m
---

## PoseShield: Neural Collision Fields for Human Self-Collision Resolution

This Space demonstrates PoseShield, a post-hoc self-collision resolver for SMPL-H poses.
Given a self-intersecting pose, it uses a learned neural collision field as a differentiable
constraint and solves a constrained optimization (SLSQP) to find a nearby collision-free pose.

### Usage

1. Upload a `.pkl` file containing a SMPL-H pose with a `pose` key (21 joints × 3 axis-angle rotations, shape `(63,)`), or try one of the provided example poses.
2. Click "Resolve Collisions" to run the optimization.
3. View the before/after 3D mesh visualizations and optimization metrics.

### References

- [Paper (arXiv:2606.29686)](https://arxiv.org/abs/2606.29686)
- [GitHub](https://github.com/lzhyu/PoseShield)
- [Model Weights](https://huggingface.co/ZYYY99/PoseShield)