mlsanityData to 7 Oct 2026

Hand-Object Contact Consistency Reasoning for Human Grasps Generation

arXiv 2104.03304 ↗First posted 7 Apr 2021cs.CVcited by 160

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Abstract (arXiv)

While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this paper, we propose to generate human grasps given a 3D object in the world. Our key observation is that it is crucial to model the consistency between the hand contact points and object contact regions. That is, we encourage the prior hand contact points to be close to the object surface and the object common contact regions to be touched by the hand at the same time. Based on the hand-object contact consistency, we design novel objectives in training the human grasp generation model and also a new self-supervised task which allows the grasp generation network to be adjusted even during test time. Our experiments show significant improvement in human grasp generation over state-of-the-art approaches by a large margin. More interestingly, by optimizing the model during test time with the self-supervised task, it helps achieve larger gain on unseen and out-of-domain objects. Project page: https://hwjiang1510.github.io/GraspTTA/

Key facts. Cited by 160 papers in the map (data through 7 Oct 2026). Builds on 29 of its 59 references that are in the map. First posted on arXiv 7 Apr 2021.

Builds on

29 of 59 references.

References · 29

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  2. 2013Auto-Encoding Variational Bayescited by 3,980
  3. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  4. 2013Domain Generalization via Invariant Feature Representationcited by 622
  5. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 397
  6. 2019Learning joint reconstruction of hands and manipulated objectscited by 377
  7. 2016Unsupervised Domain Adaptation with Residual Transfer Networkscited by 340
  8. 2017Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperationcited by 286
  9. 2017"Zero-Shot" Super-Resolution using Deep Internal Learningcited by 285
  10. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 237
  11. 2017First-Person Hand Action Benchmark with RGB-D Videos and 3D Hand Pose Annotationscited by 229
  12. 2020Long-term Human Motion Prediction with Scene Contextcited by 191
17 more
  1. 2020ContactPose: A Dataset of Grasps with Object Contact and Hand Posecited by 180
  2. 2020Semantic Photo Manipulation with a Generative Image Priorcited by 178
  3. 2020Grasping Field: Learning Implicit Representations for Human Graspscited by 178
  4. 2019ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imagingcited by 145
  5. 2019H+O: Unified Egocentric Recognition of 3D Hand-Object Poses and Interactionscited by 139
  6. 2020Synthesizing Long-Term 3D Human Motion and Interaction in 3D Scenescited by 135
  7. 2017Domain Adaptation for Visual Applications: A Comprehensive Surveycited by 127
  8. 2017AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detectioncited by 126
  9. 2015Capturing Hands in Action using Discriminative Salient Points and Physics Simulationcited by 115
  10. 2020HOPE-Net: A Graph-based Model for Hand-Object Pose Estimationcited by 112
  11. 2020State-Only Imitation Learning for Dexterous Manipulationcited by 90
  12. 2019ContactGrasp: Functional Multi-finger Grasp Synthesis from Contactcited by 87
  13. 2019Putting Humans in a Scene: Learning Affordance in 3D Indoor Environmentscited by 72
  14. 2018Online Model Distillation for Efficient Video Inferencecited by 60
  15. 2020Use the Force, Luke! Learning to Predict Physical Forces by Simulating Effectscited by 40
  16. 2021SuctionNet-1Billion: A Large-Scale Benchmark for Suction Graspingcited by 32
  17. 2019Generalized Feedback Loop for Joint Hand-Object Pose Estimationcited by 22

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 9; 2022: 18; 2023: 26; 2024: 51; 2025: 31; 2026: 25.

160 papers.

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  1. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  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. 2023CG-HOI: Contact-Guided 3D Human-Object Interaction Generationcited by 137
  5. 2022OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interactioncited by 129
  6. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 129
  7. 2022IMos: Intent-Driven Full-Body Motion Synthesis for Human-Object Interactionscited by 121
  8. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  9. 2025EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videoscited by 116
  10. 2021A-SDF: Learning Disentangled Signed Distance Functions for Articulated Shape Representationcited by 113
  11. 2023Affordance Diffusion: Synthesizing Hand-Object Interactionscited by 110
  12. 2021D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactionscited by 109
38 more
  1. 2025Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videoscited by 94
  2. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 89
  3. 2024Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interactioncited by 84
  4. 2024Move as You Say, Interact as You Can: Language-guided Human Motion Generation with Scene Affordancecited by 79
  5. 2022Fine-Grained Egocentric Hand-Object Segmentation: Dataset, Model, and Applicationscited by 78
  6. 2024OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completioncited by 78
  7. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  8. 2021MobRecon: Mobile-Friendly Hand Mesh Reconstruction from Monocular Imagecited by 74
  9. 2023Diffusion-Guided Reconstruction of Everyday Hand-Object Interaction Clipscited by 73
  10. 2022TOCH: Spatio-Temporal Object-to-Hand Correspondence for Motion Refinementcited by 69
  11. 2024Human-Object Interaction from Human-Level Instructionscited by 62
  12. 2024GraspXL: Generating Grasping Motions for Diverse Objects at Scalecited by 59
  13. 2022Human-Aware Object Placement for Visual Environment Reconstructioncited by 56
  14. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 56
  15. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 54
  16. 2023CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesiscited by 54
  17. 2023ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulationcited by 53
  18. 2023Physically Plausible Full-Body Hand-Object Interaction Synthesiscited by 52
  19. 2023ContactGen: Generative Contact Modeling for Grasp Generationcited by 52
  20. 2024HOI-M3:Capture Multiple Humans and Objects Interaction within Contextual Environmentcited by 52
  21. 2021Human Hands as Probes for Interactive Object Understandingcited by 51
  22. 2023AffordPose: A Large-scale Dataset of Hand-Object Interactions with Affordance-driven Hand Posecited by 47
  23. 2022Learning Generalizable Dexterous Manipulation from Human Grasp Affordancecited by 46
  24. 2022FLEX: Full-Body Grasping Without Full-Body Graspscited by 46
  25. 2024G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesiscited by 43
  26. 2023Task-Oriented Human-Object Interactions Generation with Implicit Neural Representationscited by 41
  27. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 41
  28. 2024HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Datacited by 37
  29. 2022Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrationscited by 34
  30. 2021Test-Time Personalization with a Transformer for Human Pose Estimationcited by 33
  31. 2024RealDex: Towards Human-like Grasping for Robotic Dexterous Handcited by 33
  32. 2024ViViDex: Learning Vision-based Dexterous Manipulation from Human Videoscited by 33
  33. 2025HOIGPT: Learning Long Sequence Hand-Object Interaction with Language Modelscited by 32
  34. 2023UGG: Unified Generative Graspingcited by 30
  35. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
  36. 2024BimArt: A Unified Approach for the Synthesis of 3D Bimanual Interaction with Articulated Objectscited by 29
  37. 2024InterHandGen: Two-Hand Interaction Generation via Cascaded Reverse Diffusioncited by 28
  38. 2022Interaction Replica: Tracking Human-Object Interaction and Scene Changes From Human Motioncited by 27

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