ContactGen: Generative Contact Modeling for Grasp Generation

October 05, 2023 · Entered Twilight · 🏛 IEEE International Conference on Computer Vision

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Repo contents: README.md, assets, checkpoint, contactgen, demo.py, eval.py, mano, manopth, pointnet_lib, requirements.txt, train.py, vis_grasp.py

Authors Shaowei Liu, Yang Zhou, Jimei Yang, Saurabh Gupta, Shenlong Wang arXiv ID 2310.03740 Category cs.CV: Computer Vision Cross-listed cs.LG, cs.RO Citations 56 Venue IEEE International Conference on Computer Vision Repository https://github.com/stevenlsw/contactgen ⭐ 80 Last Checked 7 days ago

Abstract

This paper presents a novel object-centric contact representation ContactGen for hand-object interaction. The ContactGen comprises three 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. Project page: https://stevenlsw.github.io/contactgen/