ContactGen: Generative Contact Modeling for Grasp Generation

Shaowei Liu; Yang Zhou; Jimei Yang; Saurabh Gupta; Shenlong Wang

ICCV 2023poster30 citations

ContactGen: Generative Contact Modeling for Grasp Generation

Shaowei Liu, Yang Zhou, Jimei Yang, Saurabh Gupta, Shenlong Wang

Abstract

This paper presents a novel object-centric contact representation ContactGen for hand-object interaction. The ContactGen comprises 3 components: a contact map indicates the contact location, a part map represents the contact hand part, and a direction map tells the contact direction within each part. Given an input object, we propose a conditional generative model to predict ContactGen and adopt model-based optimization to predict diverse and geometrically feasible grasps. Experimental results demonstrate our method can generate high-fidelity and diverse human grasps for various objects.

BibTeX

@inproceedings{iccv2023_contactgengenera,
  title = {ContactGen: Generative Contact Modeling for Grasp Generation},
  author = {Shaowei Liu and Yang Zhou and Jimei Yang and Saurabh Gupta and Shenlong Wang},
  booktitle = {ICCV 2023},
  year = {2023}
}