mlsanityData to 7 Oct 2026

FLEX: Full-Body Grasping Without Full-Body Grasps

arXiv 2211.11903 ↗First posted 21 Nov 2022cs.RO cs.CVcited by 46

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Abstract (arXiv)

Synthesizing 3D human avatars interacting realistically with a scene is an important problem with applications in AR/VR, video games and robotics. Towards this goal, we address the task of generating a virtual human -- hands and full body -- grasping everyday objects. Existing methods approach this problem by collecting a 3D dataset of humans interacting with objects and training on this data. However, 1) these methods do not generalize to different object positions and orientations, or to the presence of furniture in the scene, and 2) the diversity of their generated full-body poses is very limited. In this work, we address all the above challenges to generate realistic, diverse full-body grasps in everyday scenes without requiring any 3D full-body grasping data. Our key insight is to leverage the existence of both full-body pose and hand grasping priors, composing them using 3D geometrical constraints to obtain full-body grasps. We empirically validate that these constraints can generate a variety of feasible human grasps that are superior to baselines both quantitatively and qualitatively. See our webpage for more details: https://flex.cs.columbia.edu/.

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). Builds on 31 of its 84 references that are in the map. First posted on arXiv 21 Nov 2022.

Builds on

31 of 84 references.

References · 31

  1. 2013Auto-Encoding Variational Bayescited by 3,980
  2. 2019Expressive Body Capture: 3D Hands, Face, and Body from a Single Imagecited by 1,600
  3. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,208
  4. 2019Habitat: A Platform for Embodied AI Researchcited by 1,163
  5. 2017End-to-end Recovery of Human Shape and Posecited by 883
  6. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  7. 2018VirtualHome: Simulating Household Activities via Programscited by 411
  8. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 397
  9. 2019Resolving 3D Human Pose Ambiguities with 3D Scene Constraintscited by 294
  10. 2017"Zero-Shot" Super-Resolution using Deep Internal Learningcited by 285
  11. 2020ContactPose: A Dataset of Grasps with Object Contact and Hand Posecited by 180
  12. 2022Embodied Hands: Modeling and Capturing Hands and Bodies Togethercited by 179
19 more
  1. 2020Semantic Photo Manipulation with a Generative Image Priorcited by 178
  2. 2020Grasping Field: Learning Implicit Representations for Human Graspscited by 178
  3. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  4. 2020Perceiving 3D Human-Object Spatial Arrangements from a Single Image in the Wildcited by 152
  5. 2019ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imagingcited by 145
  6. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 142
  7. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 137
  8. 2020We are More than Our Joints: Predicting how 3D Bodies Movecited by 115
  9. 2021D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactionscited by 109
  10. 2019Efficient Learning on Point Clouds with Basis Point Setscited by 101
  11. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 89
  12. 2019ContactGrasp: Functional Multi-finger Grasp Synthesis from Contactcited by 87
  13. 2022TOCH: Spatio-Temporal Object-to-Hand Correspondence for Motion Refinementcited by 69
  14. 2018Online Model Distillation for Efficient Video Inferencecited by 60
  15. 2022Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Handscited by 49
  16. 2021HUMAN4D: A Human-Centric Multimodal Dataset for Motions and Immersive Mediacited by 29
  17. 2019Generating Grasp Poses for a High-DOF Gripper Using Neural Networkscited by 17
  18. 2022Landscape Learning for Neural Network Inversioncited by 15
  19. 2022Shadows Shed Light on 3D Objectscited by 8

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 12; 2024: 19; 2025: 10; 2026: 4.

46 papers.

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  1. 2023InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusioncited by 181
  2. 2023CG-HOI: Contact-Guided 3D Human-Object Interaction Generationcited by 137
  3. 2023An Outlook into the Future of Egocentric Visioncited by 84
  4. 2023PhysHOI: Physics-Based Imitation of Dynamic Human-Object Interactioncited by 72
  5. 2024Large Motion Model for Unified Multi-Modal Motion Generationcited by 65
  6. 2024InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interactioncited by 63
  7. 2024Human-Object Interaction from Human-Level Instructionscited by 62
  8. 2024DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptionscited by 60
  9. 2024ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactionscited by 54
  10. 2023Physically Plausible Full-Body Hand-Object Interaction Synthesiscited by 52
  11. 2023ContactGen: Generative Contact Modeling for Grasp Generationcited by 52
  12. 2023Generative Proxemics: A Prior for 3D Social Interaction from Imagescited by 43
34 more
  1. 2023PMP: Learning to Physically Interact with Environments using Part-wise Motion Priorscited by 38
  2. 2023Template Free Reconstruction of Human-object Interaction with Procedural Interaction Generationcited by 37
  3. 2024HIMO: A New Benchmark for Full-Body Human Interacting with Multiple Objectscited by 34
  4. 2024GeneOH Diffusion: Towards Generalizable Hand-Object Interaction Denoising via Denoising Diffusioncited by 33
  5. 2025InterAct: Advancing Large-Scale Versatile 3D Human-Object Interaction Generationcited by 31
  6. 2024BimArt: A Unified Approach for the Synthesis of 3D Bimanual Interaction with Articulated Objectscited by 29
  7. 2025A Survey on Human Interaction Motion Generationcited by 25
  8. 20223D Segmentation of Humans in Point Clouds with Synthetic Datacited by 24
  9. 2023ROAM: Robust and Object-Aware Motion Generation Using Neural Pose Descriptorscited by 23
  10. 2024GEARS: Local Geometry-aware Hand-object Interaction Synthesiscited by 20
  11. 2024TriDi: Trilateral Diffusion of 3D Humans, Objects, and Interactionscited by 18
  12. 2024SCENIC: Scene-aware Semantic Navigation with Instruction-guided Controlcited by 13
  13. 2024Diffgrasp: Whole-Body Grasping Synthesis Guided by Object Motion Using a Diffusion Modelcited by 13
  14. 2023Are Synthetic Data Useful for Egocentric Hand-Object Interaction Detection?cited by 10
  15. 2024NL2Contact: Natural Language Guided 3D Hand-Object Contact Modeling with Diffusion Modelcited by 10
  16. 2023BOTH2Hands: Inferring 3D Hands from Both Text Prompts and Body Dynamicscited by 7
  17. 2024FORCE: Physics-aware Human-object Interactioncited by 7
  18. 2024GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interactioncited by 7
  19. 20243D Whole-body Grasp Synthesis with Directional Controllabilitycited by 6
  20. 20253D Human Interaction Generation: A Surveycited by 6
  21. 2026FlowHOI: Flow-based Semantics-Grounded Generation of Hand-Object Interactions for Dexterous Robot Manipulationcited by 6
  22. 2024CrowdMoGen: Zero-Shot Text-Driven Collective Motion Generationcited by 4
  23. 2025HOI-PAGE: Zero-Shot Human-Object Interaction Generation with Part Affordance Guidancecited by 4
  24. 2024COLLAGE: Collaborative Human-Agent Interaction Generation using Hierarchical Latent Diffusion and Language Modelscited by 2
  25. 2024Towards a Training Free Approach for 3D Scene Editingcited by 2
  26. 2025Category-Aware 3D Object Composition with Disentangled Texture and Shape Multi-view Diffusioncited by 2
  27. 2025MoReact: Generating Reactive Motion from Textual Descriptionscited by 2
  28. 2025Task-Oriented Human Grasp Synthesis via Context- and Task-Aware Diffuserscited by 1
  29. 2025Prime and Reach: Synthesising Body Motion for Gaze-Primed Object Reachcited by 1
  30. 2026GIRAF: Towards Generalizable Human Interactions with Articulated Objectscited by 1
  31. 2025MOGRAS: Human Motion with Grasping in 3D Scenescited by 0
  32. 2025A Survey of Body and Face Motion: Datasets, Performance Evaluation Metrics and Generative Techniquescited by 0
  33. 2026DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulationcited by 0
  34. 2026DCGrasp: Distance-aware Controllable Grasp Generationcited by 0