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D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactions

arXiv 2112.03028 ↗First posted 1 Dec 2021cs.CV cs.LG cs.ROcited by 109

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Abstract (arXiv)

We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about the complex articulation of the human hand and the intricate physical interaction with the object. We propose a novel method that frames this problem in the reinforcement learning framework and leverages a physics simulation, both to learn and to evaluate such dynamic interactions. A hierarchical approach decomposes the task into low-level grasping and high-level motion synthesis. It can be used to generate novel hand sequences that approach, grasp, and move an object to a desired location, while retaining human-likeness. We show that our approach leads to stable grasps and generates a wide range of motions. Furthermore, even imperfect labels can be corrected by our method to generate dynamic interaction sequences.

Key facts. Cited by 109 papers in the map (data through 7 Oct 2026). Builds on 34 of its 48 references that are in the map. First posted on arXiv 1 Dec 2021.

Builds on

34 of 48 references.

References · 34

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2017Proximal Policy Optimization Algorithmscited by 14,441
  3. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 685
  4. 2018Learning Dexterous In-Hand Manipulationcited by 643
  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. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  8. 2021H2O: Two Hands Manipulating Objects for First Person Interaction Recognitioncited by 251
  9. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 194
  10. 2020ContactPose: A Dataset of Grasps with Object Contact and Hand Posecited by 180
  11. 2020Grasping Field: Learning Implicit Representations for Human Graspscited by 178
  12. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
22 more
  1. 2019ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imagingcited by 145
  2. 2020Reconstructing Hand-Object Interactions in the Wildcited by 143
  3. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 140
  4. 2019H+O: Unified Egocentric Recognition of 3D Hand-Object Poses and Interactionscited by 139
  5. 2020Leveraging Photometric Consistency over Time for Sparsely Supervised Hand-Object Reconstructioncited by 139
  6. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 137
  7. 2020CPF: Learning a Contact Potential Field to Model the Hand-Object Interactioncited by 127
  8. 2020HOPE-Net: A Graph-based Model for Hand-Object Pose Estimationcited by 112
  9. 2021SimPoE: Simulated Character Control for 3D Human Pose Estimationcited by 111
  10. 2021Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimationcited by 101
  11. 2020Weakly Supervised 3D Hand Pose Estimation via Biomechanical Constraintscited by 97
  12. 2020Contact and Human Dynamics from Monocular Videocited by 94
  13. 2020Learning Dexterous Grasping with Object-Centric Visual Affordancescited by 80
  14. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  15. 2021Neural Monocular 3D Human Motion Capture with Physical Awarenesscited by 70
  16. 2020PhysCap: Physically Plausible Monocular 3D Motion Capture in Real Timecited by 50
  17. 2021A Skeleton-Driven Neural Occupancy Representation for Articulated Handscited by 50
  18. 2021Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learningcited by 49
  19. 2020Use the Force, Luke! Learning to Predict Physical Forces by Simulating Effectscited by 40
  20. 2020Physics-Based Dexterous Manipulations with Estimated Hand Poses and Residual Reinforcement Learningcited by 37
  21. 2020Learning Functionally Decomposed Hierarchies for Continuous Control Tasks with Path Planningcited by 6
  22. 2021DASH: Modularized Human Manipulation Simulation with Vision and Language for Embodied AIcited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 13; 2023: 22; 2024: 37; 2025: 18; 2026: 18.

109 papers.

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  1. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  2. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 142
  3. 2022IMos: Intent-Driven Full-Body Motion Synthesis for Human-Object Interactionscited by 121
  4. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  5. 2023Controllable Human-Object Interaction Synthesiscited by 107
  6. 2023UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learningcited by 101
  7. 2022Physics-Informed Machine Learning: A Survey on Problems, Methods and Applicationscited by 88
  8. 2024TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understandingcited by 85
  9. 2023HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Videocited by 76
  10. 2023PhysHOI: Physics-Based Imitation of Dynamic Human-Object Interactioncited by 72
  11. 2025InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactionscited by 67
  12. 2024DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptionscited by 60
38 more
  1. 2024GraspXL: Generating Grasping Motions for Diverse Objects at Scalecited by 59
  2. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 56
  3. 2023CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesiscited by 54
  4. 2024ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactionscited by 54
  5. 2023ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulationcited by 53
  6. 2023Physically Plausible Full-Body Hand-Object Interaction Synthesiscited by 52
  7. 2022FLEX: Full-Body Grasping Without Full-Body Graspscited by 46
  8. 2023Task-Oriented Human-Object Interactions Generation with Implicit Neural Representationscited by 41
  9. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 41
  10. 2024CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangementcited by 40
  11. 2024HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Datacited by 37
  12. 2023Object pop-up: Can we infer 3D objects and their poses from human interactions alone?cited by 36
  13. 2024Benchmarks and Challenges in Pose Estimation for Egocentric Hand Interactions with Objectscited by 35
  14. 2022Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrationscited by 34
  15. 2024HIMO: A New Benchmark for Full-Body Human Interacting with Multiple Objectscited by 34
  16. 2024RealDex: Towards Human-like Grasping for Robotic Dexterous Handcited by 33
  17. 2022Learning to Imitate Object Interactions from Internet Videoscited by 32
  18. 2024GigaHands: A Massive Annotated Dataset of Bimanual Hand Activitiescited by 32
  19. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
  20. 2024BimArt: A Unified Approach for the Synthesis of 3D Bimanual Interaction with Articulated Objectscited by 29
  21. 2022Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Graspscited by 27
  22. 2023Interactive Humanoid: Online Full-Body Motion Reaction Synthesis with Social Affordance Canonicalization and Forecastingcited by 27
  23. 2023GRIP: Generating Interaction Poses Using Spatial Cues and Latent Consistencycited by 26
  24. 2023MANUS: Markerless Grasp Capture using Articulated 3D Gaussianscited by 26
  25. 2024ZeroHSI: Zero-Shot 4D Human-Scene Interaction by Video Generationcited by 25
  26. 2025A Survey on Human Interaction Motion Generationcited by 25
  27. 2023SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulationcited by 22
  28. 2024ManiDext: Hand-Object Manipulation Synthesis via Continuous Correspondence Embeddings and Residual-Guided Diffusioncited by 21
  29. 2024GEARS: Local Geometry-aware Hand-object Interaction Synthesiscited by 20
  30. 2022Physical Interaction: Reconstructing Hand-object Interactions with Physicscited by 19
  31. 2022DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrationscited by 19
  32. 2024Controlling the World by Sleight of Handcited by 19
  33. 2025ChainHOI: Joint-based Kinematic Chain Modeling for Human-Object Interaction Generationcited by 19
  34. 2025Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomycited by 19
  35. 2024PhysReaction: Physically Plausible Real-Time Humanoid Reaction Synthesis via Forward Dynamics Guided 4D Imitationcited by 18
  36. 2024EgoPressure: A Dataset for Hand Pressure and Pose Estimation in Egocentric Visioncited by 18
  37. 2024TriDi: Trilateral Diffusion of 3D Humans, Objects, and Interactionscited by 18
  38. 2024ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Graspingcited by 18

50 most cited of 109 All 109 (JSON)