# TOCH: Spatio-Temporal Object-to-Hand Correspondence for Motion Refinement

arXiv: https://arxiv.org/abs/2205.07982 · HTML: https://mlsanity.com/paper/2205.07982/

## Key facts

- Cited by 70 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 81 references that are in the map.
- First posted on arXiv 16 May 2022.

## Builds on (most cited first, 30 of 42)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Expressive Body Capture: 3D Hands, Face, and Body from a Single Image](https://mlsanity.com/paper/1904.05866/) (2019)
- [Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Image](https://mlsanity.com/paper/1607.08128/) (2016)
- [VIBE: Video Inference for Human Body Pose and Shape Estimation](https://mlsanity.com/paper/1912.05656/) (2019)
- [GRAB: A Dataset of Whole-Body Human Grasping of Objects](https://mlsanity.com/paper/2008.11200/) (2020)
- [Learning joint reconstruction of hands and manipulated objects](https://mlsanity.com/paper/1904.05767/) (2019)
- [FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Images](https://mlsanity.com/paper/1909.04349/) (2019)
- [H2O: Two Hands Manipulating Objects for First Person Interaction Recognition](https://mlsanity.com/paper/2104.11181/) (2021)
- [BEHAVE: Dataset and Method for Tracking Human Object Interactions](https://mlsanity.com/paper/2204.06950/) (2022)
- [First-Person Hand Action Benchmark with RGB-D Videos and 3D Hand Pose Annotations](https://mlsanity.com/paper/1704.02463/) (2017)
- [3D Hand Shape and Pose from Images in the Wild](https://mlsanity.com/paper/1902.03451/) (2019)
- [ContactPose: A Dataset of Grasps with Object Contact and Hand Pose](https://mlsanity.com/paper/2007.09545/) (2020)
- [Grasping Field: Learning Implicit Representations for Human Grasps](https://mlsanity.com/paper/2008.04451/) (2020)
- [3D Hand Shape and Pose Estimation from a Single RGB Image](https://mlsanity.com/paper/1903.00812/) (2019)
- [Hand-Object Contact Consistency Reasoning for Human Grasps Generation](https://mlsanity.com/paper/2104.03304/) (2021)
- [ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging](https://mlsanity.com/paper/1904.06830/) (2019)
- [Reconstructing Hand-Object Interactions in the Wild](https://mlsanity.com/paper/2012.09856/) (2020)
- [Leveraging Photometric Consistency over Time for Sparsely Supervised Hand-Object Reconstruction](https://mlsanity.com/paper/2004.13449/) (2020)
- [ContactOpt: Optimizing Contact to Improve Grasps](https://mlsanity.com/paper/2104.07267/) (2021)
- [Coherent Reconstruction of Multiple Humans from a Single Image](https://mlsanity.com/paper/2006.08586/) (2020)
- [COUCH: Towards Controllable Human-Chair Interactions](https://mlsanity.com/paper/2205.00541/) (2022)
- [CPF: Learning a Contact Potential Field to Model the Hand-Object Interaction](https://mlsanity.com/paper/2012.00924/) (2020)
- [Exploiting temporal context for 3D human pose estimation in the wild](https://mlsanity.com/paper/1905.04266/) (2019)
- [LoopReg: Self-supervised Learning of Implicit Surface Correspondences, Pose and Shape for 3D Human Mesh Registration](https://mlsanity.com/paper/2010.12447/) (2020)
- [Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations](https://mlsanity.com/paper/2104.01542/) (2021)
- [Data-Driven Grasp Synthesis - A Survey](https://mlsanity.com/paper/1309.2660/) (2013)
- [3D Human Motion Estimation via Motion Compression and Refinement](https://mlsanity.com/paper/2008.03789/) (2020)
- [Learning Motion Priors for 4D Human Body Capture in 3D Scenes](https://mlsanity.com/paper/2108.10399/) (2021)
- [CHORE: Contact, Human and Object REconstruction from a single RGB image](https://mlsanity.com/paper/2204.02445/) (2022)
- [Real-time Pose and Shape Reconstruction of Two Interacting Hands With a Single Depth Camera](https://mlsanity.com/paper/2106.08059/) (2021)

## Built on by (most cited first, 30 of 70)

- [InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusion](https://mlsanity.com/paper/2308.16905/) (2023)
- [CG-HOI: Contact-Guided 3D Human-Object Interaction Generation](https://mlsanity.com/paper/2311.16097/) (2023)
- [TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understanding](https://mlsanity.com/paper/2401.08399/) (2024)
- [Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interaction](https://mlsanity.com/paper/2404.00562/) (2024)
- [InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions](https://mlsanity.com/paper/2502.20390/) (2025)
- [InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interaction](https://mlsanity.com/paper/2403.19652/) (2024)
- [DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptions](https://mlsanity.com/paper/2403.17827/) (2024)
- [ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactions](https://mlsanity.com/paper/2401.10232/) (2024)
- [ContactGen: Generative Contact Modeling for Grasp Generation](https://mlsanity.com/paper/2310.03740/) (2023)
- [ReGenNet: Towards Human Action-Reaction Synthesis](https://mlsanity.com/paper/2403.11882/) (2024)
- [Locomotion-Action-Manipulation: Synthesizing Human-Scene Interactions in Complex 3D Environments](https://mlsanity.com/paper/2301.02667/) (2023)
- [FLEX: Full-Body Grasping Without Full-Body Grasps](https://mlsanity.com/paper/2211.11903/) (2022)
- [THOR: Text to Human-Object Interaction Diffusion via Relation Intervention](https://mlsanity.com/paper/2403.11208/) (2024)
- [HanDiffuser: Text-to-Image Generation With Realistic Hand Appearances](https://mlsanity.com/paper/2403.01693/) (2024)
- [Object pop-up: Can we infer 3D objects and their poses from human interactions alone?](https://mlsanity.com/paper/2306.00777/) (2023)
- [InterAct: Advancing Large-Scale Versatile 3D Human-Object Interaction Generation](https://mlsanity.com/paper/2509.09555/) (2025)
- [BimArt: A Unified Approach for the Synthesis of 3D Bimanual Interaction with Articulated Objects](https://mlsanity.com/paper/2412.05066/) (2024)
- [A Survey on Human Interaction Motion Generation](https://mlsanity.com/paper/2503.12763/) (2025)
- [ROAM: Robust and Object-Aware Motion Generation Using Neural Pose Descriptors](https://mlsanity.com/paper/2308.12969/) (2023)
- [InterTrack: Tracking Human Object Interaction without Object Templates](https://mlsanity.com/paper/2408.13953/) (2024)
- [Deformer: Dynamic Fusion Transformer for Robust Hand Pose Estimation](https://mlsanity.com/paper/2303.04991/) (2023)
- [ManiDext: Hand-Object Manipulation Synthesis via Continuous Correspondence Embeddings and Residual-Guided Diffusion](https://mlsanity.com/paper/2409.09300/) (2024)
- [GEARS: Local Geometry-aware Hand-object Interaction Synthesis](https://mlsanity.com/paper/2404.01758/) (2024)
- [TriDi: Trilateral Diffusion of 3D Humans, Objects, and Interactions](https://mlsanity.com/paper/2412.06334/) (2024)
- [ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Grasping](https://mlsanity.com/paper/2412.16212/) (2024)
- [MagicHOI: Leveraging 3D Priors for Accurate Hand-object Reconstruction from Short Monocular Video Clips](https://mlsanity.com/paper/2508.05506/) (2025)
- [Novel-view Synthesis and Pose Estimation for Hand-Object Interaction from Sparse Views](https://mlsanity.com/paper/2308.11198/) (2023)
- [GAN-Avatar: Controllable Personalized GAN-based Human Head Avatar](https://mlsanity.com/paper/2311.13655/) (2023)
- [SyncDiff: Synchronized Motion Diffusion for Multi-Body Human-Object Interaction Synthesis](https://mlsanity.com/paper/2412.20104/) (2024)
- [SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers](https://mlsanity.com/paper/2311.05599/) (2023)

## Abstract (arXiv)

We present TOCH, a method for refining incorrect 3D hand-object interaction sequences using a data prior. Existing hand trackers, especially those that rely on very few cameras, often produce visually unrealistic results with hand-object intersection or missing contacts. Although correcting such errors requires reasoning about temporal aspects of interaction, most previous works focus on static grasps and contacts. The core of our method are TOCH fields, a novel spatio-temporal representation for modeling correspondences between hands and objects during interaction. TOCH fields are a point-wise, object-centric representation, which encode the hand position relative to the object. Leveraging this novel representation, we learn a latent manifold of plausible TOCH fields with a temporal denoising auto-encoder. Experiments demonstrate that TOCH outperforms state-of-the-art 3D hand-object interaction models, which are limited to static grasps and contacts. More importantly, our method produces smooth interactions even before and after contact. Using a single trained TOCH model, we quantitatively and qualitatively demonstrate its usefulness for correcting erroneous sequences from off-the-shelf RGB/RGB-D hand-object reconstruction methods and transferring grasps across objects.