The paper introduces a novel object-centric contact representation, ContactGen, for hand-object interaction. ContactGen comprises three components: a contact map indicating the contact location, a part map representing the contact hand part, and a direction map showing the contact direction within each part. The proposed conditional generative model predicts ContactGen and employs model-based optimization to predict diverse and geometrically feasible grasps. The experimental results demonstrate that the method can generate high-fidelity and diverse human grasps for various objects.
Publication date: 5 Oct 2023
Project Page: https://stevenlsw.github.io/contactgen/
Paper: https://arxiv.org/pdf/2310.03740
