mlsanityData to 7 Oct 2026

ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact

arXiv 1904.03754 ↗First posted 7 Apr 2019cs.RO cs.CVcited by 87

Not on the map. Why?

Abstract (arXiv)

Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also functional: they enable post-grasp actions with the object. However, functional grasp synthesis for high degree-of-freedom anthropomorphic hands from object shape alone is challenging because of the large optimization space. We present ContactGrasp, a framework for functional grasp synthesis from object shape and contact on the object surface. Contact can be manually specified or obtained through demonstrations. Our contact representation is object-centric and allows functional grasp synthesis even for hand models different than the one used for demonstration. Using a dataset of contact demonstrations from humans grasping diverse household objects, we synthesize functional grasps for three hand models and two functional intents. The project webpage is https://contactdb.cc.gatech.edu/contactgrasp.html.

Key facts. Cited by 87 papers in the map (data through 7 Oct 2026). First posted on arXiv 7 Apr 2019.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 5; 2022: 17; 2023: 20; 2024: 23; 2025: 15; 2026: 7.

87 papers.

Sort:

By area:

  1. 2022BEHAVE: Dataset and Method for Tracking Human Object Interactionscited by 246
  2. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 194
  3. 2023InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusioncited by 181
  4. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  5. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 137
  6. 2022OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interactioncited by 129
  7. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 129
  8. 2022IMos: Intent-Driven Full-Body Motion Synthesis for Human-Object Interactionscited by 121
  9. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  10. 2024Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulationcited by 116
  11. 2025EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videoscited by 116
  12. 2022CHORE: Contact, Human and Object REconstruction from a single RGB imagecited by 95
38 more
  1. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 89
  2. 2024Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interactioncited by 84
  3. 2022DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Videocited by 83
  4. 2022Fine-Grained Egocentric Hand-Object Segmentation: Dataset, Model, and Applicationscited by 78
  5. 2022DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulationcited by 78
  6. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  7. 2023DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objectscited by 64
  8. 2024Human-Object Interaction from Human-Level Instructionscited by 62
  9. 2023Visibility Aware Human-Object Interaction Tracking from Single RGB Cameracited by 58
  10. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 54
  11. 2023CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesiscited by 54
  12. 2023ContactGen: Generative Contact Modeling for Grasp Generationcited by 52
  13. 2023Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Planscited by 51
  14. 2023Zero-Shot Robot Manipulation from Passive Human Videoscited by 49
  15. 2023AffordPose: A Large-scale Dataset of Hand-Object Interactions with Affordance-driven Hand Posecited by 47
  16. 2022Learning Generalizable Dexterous Manipulation from Human Grasp Affordancecited by 46
  17. 2022FLEX: Full-Body Grasping Without Full-Body Graspscited by 46
  18. 2024G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesiscited by 43
  19. 2023Task-Oriented Human-Object Interactions Generation with Implicit Neural Representationscited by 41
  20. 2024HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Datacited by 37
  21. 2023Object pop-up: Can we infer 3D objects and their poses from human interactions alone?cited by 36
  22. 2023Dexterous Functional Graspingcited by 36
  23. 2022Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrationscited by 34
  24. 2024Beyond the Contact: Discovering Comprehensive Affordance for 3D Objects from Pre-trained 2D Diffusion Modelscited by 32
  25. 2024GigaHands: A Massive Annotated Dataset of Bimanual Hand Activitiescited by 32
  26. 2023UGG: Unified Generative Graspingcited by 30
  27. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
  28. 2023Neural feels with neural fields: Visuo-tactile perception for in-hand manipulationcited by 28
  29. 2025A Survey on Human Interaction Motion Generationcited by 25
  30. 2022PressureVision: Estimating Hand Pressure from a Single RGB Imagecited by 23
  31. 2024Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representationscited by 23
  32. 2025Dex1B: Learning with 1B Demonstrations for Dexterous Manipulationcited by 23
  33. 2025PICO: Reconstructing 3D People In Contact with Objectscited by 22
  34. 2022Contact2Grasp: 3D Grasp Synthesis via Hand-Object Contact Constraintcited by 21
  35. 2024ManiDext: Hand-Object Manipulation Synthesis via Continuous Correspondence Embeddings and Residual-Guided Diffusioncited by 21
  36. 2022DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrationscited by 19
  37. 2023CHORUS: Learning Canonicalized 3D Human-Object Spatial Relations from Unbounded Synthesized Imagescited by 19
  38. 2024Controlling the World by Sleight of Handcited by 19

50 most cited of 87 All 87 (JSON)