ContactGen: Generative Contact Modeling for Grasp Generation

• URL: http://arxiv.org/abs/2310.03740v1
• Date: Thu, 5 Oct 2023 17:59:45 GMT
• Title: ContactGen: Generative Contact Modeling for Grasp Generation
• Authors: Shaowei Liu, Yang Zhou, Jimei Yang, Saurabh Gupta, Shenlong Wang
• Abstract summary: This paper presents a novel object-centric contact representation ContactGen for hand-object interaction. We propose a conditional generative model to predict ContactGen and adopt model-based optimization to predict diverse and geometrically feasible grasps.
• Score: 37.56729700157981
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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/

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