ContactGen: Generative Contact Modeling for Grasp Generation

Shaowei Liu, Yang Zhou, Jimei Yang, Saurabh Gupta, Shenlong Wang; Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV), 2023, pp. 20609-20620

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.

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[bibtex]
@InProceedings{Liu_2023_ICCV, author = {Liu, Shaowei and Zhou, Yang and Yang, Jimei and Gupta, Saurabh and Wang, Shenlong}, title = {ContactGen: Generative Contact Modeling for Grasp Generation}, booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)}, month = {October}, year = {2023}, pages = {20609-20620} }