# DART: Articulated Hand Model with Diverse Accessories and Rich Textures

arXiv: https://arxiv.org/abs/2210.07650 · HTML: https://mlsanity.com/paper/2210.07650/

## Key facts

- Cited by 25 papers in the map (data through 14 Oct 2026).
- Builds on 46 of its 64 references that are in the map.
- First posted on arXiv 14 Oct 2022.

## Builds on (most cited first, 30 of 46)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [End-to-End Human Pose and Mesh Reconstruction with Transformers](https://mlsanity.com/paper/2012.09760/) (2020)
- [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)
- [HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimation](https://mlsanity.com/paper/2011.14672/) (2020)
- [ICON: Implicit Clothed humans Obtained from Normals](https://mlsanity.com/paper/2112.09127/) (2021)
- [I2L-MeshNet: Image-to-Lixel Prediction Network for Accurate 3D Human Pose and Mesh Estimation from a Single RGB Image](https://mlsanity.com/paper/2008.03713/) (2020)
- [FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Images](https://mlsanity.com/paper/1909.04349/) (2019)
- [Convolutional Mesh Regression for Single-Image Human Shape Reconstruction](https://mlsanity.com/paper/1905.03244/) (2019)
- [Mesh Graphormer](https://mlsanity.com/paper/2104.00272/) (2021)
- [Integral Human Pose Regression](https://mlsanity.com/paper/1711.08229/) (2017)
- [InterHand2.6M: A Dataset and Baseline for 3D Interacting Hand Pose Estimation from a Single RGB Image](https://mlsanity.com/paper/2008.09309/) (2020)
- [Learning to Estimate 3D Hand Pose from Single RGB Images](https://mlsanity.com/paper/1705.01389/) (2017)
- [Hand Keypoint Detection in Single Images using Multiview Bootstrapping](https://mlsanity.com/paper/1704.07809/) (2017)
- [Coarse-to-Fine Volumetric Prediction for Single-Image 3D Human Pose](https://mlsanity.com/paper/1611.07828/) (2016)
- [AGORA: Avatars in Geography Optimized for Regression Analysis](https://mlsanity.com/paper/2104.14643/) (2021)
- [Long-term Human Motion Prediction with Scene Context](https://mlsanity.com/paper/2007.03672/) (2020)
- [3D Hand Shape and Pose from Images in the Wild](https://mlsanity.com/paper/1902.03451/) (2019)
- [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)
- [GANerated Hands for Real-time 3D Hand Tracking from Monocular RGB](https://mlsanity.com/paper/1712.01057/) (2017)
- [Weakly-Supervised Mesh-Convolutional Hand Reconstruction in the Wild](https://mlsanity.com/paper/2004.01946/) (2020)
- [Collaborative Regression of Expressive Bodies using Moderation](https://mlsanity.com/paper/2105.05301/) (2021)
- [SPEC: Seeing People in the Wild with an Estimated Camera](https://mlsanity.com/paper/2110.00620/) (2021)
- [Human Pose Regression with Residual Log-likelihood Estimation](https://mlsanity.com/paper/2107.11291/) (2021)
- [CPF: Learning a Contact Potential Field to Model the Hand-Object Interaction](https://mlsanity.com/paper/2012.00924/) (2020)
- [Compositional Human Pose Regression](https://mlsanity.com/paper/1704.00159/) (2017)

## Built on by (most cited first, 25 of 25)

- [ECON: Explicit Clothed humans Optimized via Normal integration](https://mlsanity.com/paper/2212.07422/) (2022)
- [TADA! Text to Animatable Digital Avatars](https://mlsanity.com/paper/2308.10899/) (2023)
- [TeCH: Text-guided Reconstruction of Lifelike Clothed Humans](https://mlsanity.com/paper/2308.08545/) (2023)
- [ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning](https://mlsanity.com/paper/2503.21860/) (2025)
- [Hand Avatar: Free-Pose Hand Animation and Rendering from Monocular Video](https://mlsanity.com/paper/2211.12782/) (2022)
- [A Dataset of Relighted 3D Interacting Hands](https://mlsanity.com/paper/2310.17768/) (2023)
- [SemGrasp: Semantic Grasp Generation via Language Aligned Discretization](https://mlsanity.com/paper/2404.03590/) (2024)
- [NRDF: Neural Riemannian Distance Fields for Learning Articulated Pose Priors](https://mlsanity.com/paper/2403.03122/) (2024)
- [OHTA: One-shot Hand Avatar via Data-driven Implicit Priors](https://mlsanity.com/paper/2402.18969/) (2024)
- [URHand: Universal Relightable Hands](https://mlsanity.com/paper/2401.05334/) (2024)
- [RenderIH: A Large-scale Synthetic Dataset for 3D Interacting Hand Pose Estimation](https://mlsanity.com/paper/2309.09301/) (2023)
- [HAVE-FUN: Human Avatar Reconstruction from Few-Shot Unconstrained Images](https://mlsanity.com/paper/2311.15672/) (2023)
- [HandDiffuse: Generative Controllers for Two-Hand Interactions via Diffusion Models](https://mlsanity.com/paper/2312.04867/) (2023)
- [UnitedHuman: Harnessing Multi-Source Data for High-Resolution Human Generation](https://mlsanity.com/paper/2309.14335/) (2023)
- [FoundHand: Large-Scale Domain-Specific Learning for Controllable Hand Image Generation](https://mlsanity.com/paper/2412.02690/) (2024)
- [Weakly-Supervised 3D Hand Reconstruction with Knowledge Prior and Uncertainty Guidance](https://mlsanity.com/paper/2407.12307/) (2024)
- [3D Visibility-aware Generalizable Neural Radiance Fields for Interacting Hands](https://mlsanity.com/paper/2401.00979/) (2024)
- [Recovering Parametric Scenes from Very Few Time-of-Flight Pixels](https://mlsanity.com/paper/2509.16132/) (2025)
- [PALM: A Dataset and Baseline for Learning Multi-subject Hand Prior](https://mlsanity.com/paper/2511.05403/) (2025)
- [HGGT: Robust and Flexible 3D Hand Mesh Reconstruction from Uncalibrated Images](https://mlsanity.com/paper/2603.23997/) (2026)
- [Semi-supervised Hand Appearance Recovery via Structure Disentanglement and Dual Adversarial Discrimination](https://mlsanity.com/paper/2303.06380/) (2023)
- [HiFiHR: Enhancing 3D Hand Reconstruction from a Single Image via High-Fidelity Texture](https://mlsanity.com/paper/2308.13628/) (2023)
- [GRASPLAT: Enabling dexterous grasping through novel view synthesis](https://mlsanity.com/paper/2510.19200/) (2025)
- [SesaHand: Enhancing 3D Hand Reconstruction via Controllable Generation with Semantic and Structural Alignment](https://mlsanity.com/paper/2603.00443/) (2026)
- [PHAF-Personalized Hand Avatars in a Flash](https://mlsanity.com/paper/2606.03420/) (2026)

## Abstract (arXiv)

Hand, the bearer of human productivity and intelligence, is receiving much attention due to the recent fever of digital twins. Among different hand morphable models, MANO has been widely used in vision and graphics community. However, MANO disregards textures and accessories, which largely limits its power to synthesize photorealistic hand data. In this paper, we extend MANO with Diverse Accessories and Rich Textures, namely DART. DART is composed of 50 daily 3D accessories which varies in appearance and shape, and 325 hand-crafted 2D texture maps covers different kinds of blemishes or make-ups. Unity GUI is also provided to generate synthetic hand data with user-defined settings, e.g., pose, camera, background, lighting, textures, and accessories. Finally, we release DARTset, which contains large-scale (800K), high-fidelity synthetic hand images, paired with perfect-aligned 3D labels. Experiments demonstrate its superiority in diversity. As a complement to existing hand datasets, DARTset boosts the generalization in both hand pose estimation and mesh recovery tasks. Raw ingredients (textures, accessories), Unity GUI, source code and DARTset are publicly available at dart2022.github.io