ContactGen: Generative Contact Modeling for Grasp Generation

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationProceedings - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages20552-20563
Number of pages12
ISBN (Electronic)9798350307184
DOIs
StatePublished - 2023
Event2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023 - Paris, France
Duration: Oct 2 2023Oct 6 2023

Publication series

NameProceedings of the IEEE International Conference on Computer Vision
ISSN (Print)1550-5499

Conference

Conference2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
Country/TerritoryFrance
CityParis
Period10/2/2310/6/23

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

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