CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesis

• URL: http://arxiv.org/abs/2303.15469v1
• Date: Sat, 25 Mar 2023 07:03:12 GMT
• Title: CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesis
• Abstract summary: We present a novel task of category-level functional hand-object manipulation synthesis. We generate a physically reasonable hand-object manipulation sequence that performs like human beings. Our framework achieves state-of-the-art performance for both rigid and articulated categories with impressive visual effects.
• Score: 18.618218866876422
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In this work, we focus on a novel task of category-level functional hand-object manipulation synthesis covering both rigid and articulated object categories. Given an object geometry, an initial human hand pose as well as a sparse control sequence of object poses, our goal is to generate a physically reasonable hand-object manipulation sequence that performs like human beings. To address such a challenge, we first design CAnonicalized Manipulation Spaces (CAMS), a two-level space hierarchy that canonicalizes the hand poses in an object-centric and contact-centric view. Benefiting from the representation capability of CAMS, we then present a two-stage framework for synthesizing human-like manipulation animations. Our framework achieves state-of-the-art performance for both rigid and articulated categories with impressive visual effects. Codes and video results can be found at our project homepage: https://cams-hoi.github.io/

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