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
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该论文提出了一种新颖的以物体为中心的接触表示方法 ContactGen，用于手 - 物体交互。ContactGen 包括三个组成部分：接触位置的接触图，接触手部的部分图以及每个部分内的接触方向的方向图。通过给定输入物体，我们提出了一个条件生成模型来预测 ContactGen，并采用基于模型的优化来预测多样且几何可行的抓取。实验结果表明，我们的方法能够为各种物体生成高保真度和多样性的人类抓取。项目页面：this https URL