# Im2Hands: Learning Attentive Implicit Representation of Interacting Two-Hand Shapes

arXiv: https://arxiv.org/abs/2302.14348 · HTML: https://mlsanity.com/paper/2302.14348/

## Key facts

- Cited by 26 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 50 references that are in the map.
- First posted on arXiv 28 Feb 2023.

## Builds on (most cited first, 30 of 36)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [Volume Rendering of Neural Implicit Surfaces](https://mlsanity.com/paper/2106.12052/) (2021)
- [PIFu: Pixel-Aligned Implicit Function for High-Resolution Clothed Human Digitization](https://mlsanity.com/paper/1905.05172/) (2019)
- [End-to-End Human Pose and Mesh Reconstruction with Transformers](https://mlsanity.com/paper/2012.09760/) (2020)
- [Learning joint reconstruction of hands and manipulated objects](https://mlsanity.com/paper/1904.05767/) (2019)
- [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)
- [Neural Articulated Radiance Field](https://mlsanity.com/paper/2104.03110/) (2021)
- [3D Hand Shape and Pose from Images in the Wild](https://mlsanity.com/paper/1902.03451/) (2019)
- [SCANimate: Weakly Supervised Learning of Skinned Clothed Avatar Networks](https://mlsanity.com/paper/2104.03313/) (2021)
- [Embodied Hands: Modeling and Capturing Hands and Bodies Together](https://mlsanity.com/paper/2201.02610/) (2022)
- [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)
- [NASA: Neural Articulated Shape Approximation](https://mlsanity.com/paper/1912.03207/) (2019)
- [Weakly-Supervised Mesh-Convolutional Hand Reconstruction in the Wild](https://mlsanity.com/paper/2004.01946/) (2020)
- [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)
- [Pushing the Envelope for RGB-based Dense 3D Hand Pose Estimation via Neural Rendering](https://mlsanity.com/paper/1904.04196/) (2019)
- [HOPE-Net: A Graph-based Model for Hand-Object Pose Estimation](https://mlsanity.com/paper/2004.00060/) (2020)
- [Hand Pose Estimation via Latent 2.5D Heatmap Regression](https://mlsanity.com/paper/1804.09534/) (2018)
- [Monocular Real-time Hand Shape and Motion Capture using Multi-modal Data](https://mlsanity.com/paper/2003.09572/) (2020)
- [V2V-PoseNet: Voxel-to-Voxel Prediction Network for Accurate 3D Hand and Human Pose Estimation from a Single Depth Map](https://mlsanity.com/paper/1711.07399/) (2017)
- [Weakly Supervised 3D Hand Pose Estimation via Biomechanical Constraints](https://mlsanity.com/paper/2003.09282/) (2020)
- [Interacting Attention Graph for Single Image Two-Hand Reconstruction](https://mlsanity.com/paper/2203.09364/) (2022)
- [Real-time Pose and Shape Reconstruction of Two Interacting Hands With a Single Depth Camera](https://mlsanity.com/paper/2106.08059/) (2021)
- [LISA: Learning Implicit Shape and Appearance of Hands](https://mlsanity.com/paper/2204.01695/) (2022)
- [COAP: Compositional Articulated Occupancy of People](https://mlsanity.com/paper/2204.06184/) (2022)

## Built on by (most cited first, 26 of 26)

- [An Outlook into the Future of Egocentric Vision](https://mlsanity.com/paper/2308.07123/) (2023)
- [HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Video](https://mlsanity.com/paper/2311.18448/) (2023)
- [Dyn-HaMR: Recovering 4D Interacting Hand Motion from a Dynamic Camera](https://mlsanity.com/paper/2412.12861/) (2024)
- [Benchmarks and Challenges in Pose Estimation for Egocentric Hand Interactions with Objects](https://mlsanity.com/paper/2403.16428/) (2024)
- [InterHandGen: Two-Hand Interaction Generation via Cascaded Reverse Diffusion](https://mlsanity.com/paper/2403.17422/) (2024)
- [MagicHOI: Leveraging 3D Priors for Accurate Hand-object Reconstruction from Short Monocular Video Clips](https://mlsanity.com/paper/2508.05506/) (2025)
- [Dense Hand-Object(HO) GraspNet with Full Grasping Taxonomy and Dynamics](https://mlsanity.com/paper/2409.04033/) (2024)
- [FourierHandFlow: Neural 4D Hand Representation Using Fourier Query Flow](https://mlsanity.com/paper/2307.08100/) (2023)
- [BiTT: Bi-directional Texture Reconstruction of Interacting Two Hands from a Single Image](https://mlsanity.com/paper/2403.08262/) (2024)
- [MPMAvatar: Learning 3D Gaussian Avatars with Accurate and Robust Physics-Based Dynamics](https://mlsanity.com/paper/2510.01619/) (2025)
- [Ins-HOI: Instance Aware Human-Object Interactions Recovery](https://mlsanity.com/paper/2312.09641/) (2023)
- [EgoGrasp: World-Space Hand-Object Interaction Estimation from Egocentric Videos](https://mlsanity.com/paper/2601.01050/) (2026)
- [CLIP-Hand3D: Exploiting 3D Hand Pose Estimation via Context-Aware Prompting](https://mlsanity.com/paper/2309.16140/) (2023)
- [Multi-hypotheses Conditioned Point Cloud Diffusion for 3D Human Reconstruction from Occluded Images](https://mlsanity.com/paper/2409.18364/) (2024)
- [Advances in Radiance Field for Dynamic Scene: From Neural Field to Gaussian Field](https://mlsanity.com/paper/2505.10049/) (2025)
- [Body-Hand Modality Expertized Networks with Cross-attention for Fine-grained Skeleton Action Recognition](https://mlsanity.com/paper/2503.14960/) (2025)
- [Advances in 4D Representation: Geometry, Motion, and Interaction](https://mlsanity.com/paper/2510.19255/) (2025)
- [SRHand: Super-Resolving Hand Images and 3D Shapes via View/Pose-aware Neural Image Representations and Explicit 3D Meshes](https://mlsanity.com/paper/2509.21859/) (2025)
- [Pyramid Deep Fusion Network for Two-Hand Reconstruction from RGB-D Images](https://mlsanity.com/paper/2307.06038/) (2023)
- [Towards in-the-wild Egocentric 3D Hand-Object Pose Estimation](https://mlsanity.com/paper/2606.30598/) (2026)
- [Monocular 3D Hand Mesh Recovery via Dual Noise Estimation](https://mlsanity.com/paper/2312.15916/) (2023)
- [LieHMR: Autoregressive Human Mesh Recovery with SO(3) Diffusion](https://mlsanity.com/paper/2509.25739/) (2025)
- [Cascaded Diffusion Framework for Probabilistic Coarse-to-Fine Hand Pose Estimation](https://mlsanity.com/paper/2510.00527/) (2025)
- [Gesture-Aware Pretraining and Token Fusion for 3D Hand Pose Estimation](https://mlsanity.com/paper/2603.17396/) (2026)
- [PhysHanDI: Physics-Based Reconstruction of Hand-Deformable Object Interactions](https://mlsanity.com/paper/2605.09538/) (2026)
- [Mudragen: Geometrically Supervised Generation of Interacting Two-Hand Mudras for Preserving Indian Classical Dance Heritage](https://mlsanity.com/paper/2609.03415/) (2026)

## Abstract (arXiv)

We present Implicit Two Hands (Im2Hands), the first neural implicit representation of two interacting hands. Unlike existing methods on two-hand reconstruction that rely on a parametric hand model and/or low-resolution meshes, Im2Hands can produce fine-grained geometry of two hands with high hand-to-hand and hand-to-image coherency. To handle the shape complexity and interaction context between two hands, Im2Hands models the occupancy volume of two hands - conditioned on an RGB image and coarse 3D keypoints - by two novel attention-based modules responsible for (1) initial occupancy estimation and (2) context-aware occupancy refinement, respectively. Im2Hands first learns per-hand neural articulated occupancy in the canonical space designed for each hand using query-image attention. It then refines the initial two-hand occupancy in the posed space to enhance the coherency between the two hand shapes using query-anchor attention. In addition, we introduce an optional keypoint refinement module to enable robust two-hand shape estimation from predicted hand keypoints in a single-image reconstruction scenario. We experimentally demonstrate the effectiveness of Im2Hands on two-hand reconstruction in comparison to related methods, where ours achieves state-of-the-art results. Our code is publicly available at https://github.com/jyunlee/Im2Hands.