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Extensive research that has been conducted is predominantly based on cameras, whose intrusive nature limits their use in smart home applications. To address this, mmWave radars have gained popularity due to their privacy-friendly features. In this work, we propose milliFlow, a novel deep learning approach to estimate scene flow as complementary motion information for mmWave point cloud, serving as an intermediate level of features and directly benefiting downstream human motion sensing tasks. Experimental results demonstrate the superior performance of our method when compared with the competing approaches. Furthermore, by incorporating scene flow information, we achieve remarkable improvements in human activity recognition and human parsing and support human body part tracking. Code and dataset are available at https://github.com/Toytiny/milliFlow.","url_abs":"https://arxiv.org/abs/2306.17010v8","url_pdf":"https://arxiv.org/pdf/2306.17010v8.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"milliflow-scene-flow-estimation-on-mmwave","repo_url":"https://github.com/toytiny/milliflow","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"NOASSERTION"}},{"paper_slug":"milliflow-scene-flow-estimation-on-mmwave","repo_url":"https://github.com/toytiny/radarocc","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"activity-recognition","task_name":"Activity Recognition"},{"task_slug":"decision-making","task_name":"Decision Making"},{"task_slug":"gesture-recognition","task_name":"Gesture Recognition"},{"task_slug":"human-activity-recognition","task_name":"Human Activity Recognition"},{"task_slug":"human-parsing","task_name":"Human Parsing"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":"scene-flow-estimation","task_name":"Scene Flow Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2306.17010","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2306.17010"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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