mlsanityData to 14 Oct 2026

GRAB: A Dataset of Whole-Body Human Grasping of Objects

arXiv 2008.11200 ↗First posted 25 Aug 2020cs.CVcited by 405

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Cited by 35 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is commonly thought of as a single hand stably lifting an object, we capture the motion of the entire body and adopt the generalized notion of "whole-body grasps". Thus, we collect a new dataset, called GRAB (GRasping Actions with Bodies), of whole-body grasps, containing full 3D shape and pose sequences of 10 subjects interacting with 51 everyday objects of varying shape and size. Given MoCap markers, we fit the full 3D body shape and pose, including the articulated face and hands, as well as the 3D object pose. This gives detailed 3D meshes over time, from which we compute contact between the body and object. This is a unique dataset, that goes well beyond existing ones for modeling and understanding how humans grasp and manipulate objects, how their full body is involved, and how interaction varies with the task. We illustrate the practical value of GRAB with an example application; we train GrabNet, a conditional generative network, to predict 3D hand grasps for unseen 3D object shapes. The dataset and code are available for research purposes at https://grab.is.tue.mpg.de.

Key facts. Cited by 405 papers in the map (data through 14 Oct 2026). First posted on arXiv 25 Aug 2020.

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Citing papers per year: 2021: 19; 2022: 50; 2023: 69; 2024: 84; 2025: 93; 2026: 90.

405 papers.

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  1. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 327
  2. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 325
  3. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 312
  4. 2023Effective Whole-body Pose Estimation with Two-stages Distillationcited by 311
  5. 2021BABEL: Bodies, Action and Behavior with English Labelscited by 265
  6. 2021H2O: Two Hands Manipulating Objects for First Person Interaction Recognitioncited by 254
  7. 2022BEHAVE: Dataset and Method for Tracking Human Object Interactionscited by 249
  8. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 239
  9. 2023BEDLAM: A Synthetic Dataset of Bodies Exhibiting Detailed Lifelike Animated Motioncited by 236
  10. 2023Motion-X: A Large-scale 3D Expressive Whole-body Human Motion Datasetcited by 227
  11. 2023Object Motion Guided Human Motion Synthesiscited by 212
  12. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 206
38 more
  1. 2023InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusioncited by 182
  2. 2022Capturing and Inferring Dense Full-Body Human-Scene Contactcited by 180
  3. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  4. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 160
  5. 2022HUMANISE: Language-conditioned Human Motion Generation in 3D Scenescited by 158
  6. 2021Probabilistic Modeling for Human Mesh Recoverycited by 153
  7. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 144
  8. 2022EPIC-KITCHENS VISOR Benchmark: VIdeo Segmentations and Object Relationscited by 140
  9. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 139
  10. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 137
  11. 2024Scaling Up Dynamic Human-Scene Interaction Modelingcited by 137
  12. 2022COUCH: Towards Controllable Human-Chair Interactionscited by 135
  13. 2025RoboBrain: A Unified Brain Model for Robotic Manipulation from Abstract to Concretecited by 135
  14. 2022OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interactioncited by 131
  15. 2023State of the Art on Diffusion Models for Visual Computingcited by 127
  16. 2022IMos: Intent-Driven Full-Body Motion Synthesis for Human-Object Interactionscited by 124
  17. 2021Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimationcited by 123
  18. 2021D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactionscited by 113
  19. 2023Controllable Human-Object Interaction Synthesiscited by 109
  20. 2023HumanTOMATO: Text-aligned Whole-body Motion Generationcited by 104
  21. 2022Recovering 3D Human Mesh from Monocular Images: A Surveycited by 103
  22. 2024Multi-HMR: Multi-Person Whole-Body Human Mesh Recovery in a Single Shotcited by 101
  23. 2023Inter-X: Towards Versatile Human-Human Interaction Analysiscited by 98
  24. 2023Human Motion Generation: A Surveycited by 96
  25. 2022CHORE: Contact, Human and Object REconstruction from a single RGB imagecited by 95
  26. 2022InterCap: Joint Markerless 3D Tracking of Humans and Objects in Interactioncited by 93
  27. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 91
  28. 2022Towards Diverse and Natural Scene-aware 3D Human Motion Synthesiscited by 91
  29. 2022DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Videocited by 89
  30. 2024TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understandingcited by 88
  31. 2023Hi4D: 4D Instance Segmentation of Close Human Interactioncited by 87
  32. 2024Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interactioncited by 86
  33. 2022Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtubecited by 82
  34. 2022BeLFusion: Latent Diffusion for Behavior-Driven Human Motion Predictioncited by 82
  35. 2024OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completioncited by 82
  36. 2023CIRCLE: Capture In Rich Contextual Environmentscited by 79
  37. 2022Fine-Grained Egocentric Hand-Object Segmentation: Dataset, Model, and Applicationscited by 78
  38. 2022PoseGPT: Quantization-based 3D Human Motion Generation and Forecastingcited by 78

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