mlsanityData to 7 Oct 2026

CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesis

arXiv 2303.15469 ↗First posted 25 Mar 2023cs.CVcited by 54

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Abstract (arXiv)

In this work, we focus on a novel task of category-level functional hand-object manipulation synthesis covering both rigid and articulated object categories. Given an object geometry, an initial human hand pose as well as a sparse control sequence of object poses, our goal is to generate a physically reasonable hand-object manipulation sequence that performs like human beings. To address such a challenge, we first design CAnonicalized Manipulation Spaces (CAMS), a two-level space hierarchy that canonicalizes the hand poses in an object-centric and contact-centric view. Benefiting from the representation capability of CAMS, we then present a two-stage framework for synthesizing human-like manipulation animations. Our framework achieves state-of-the-art performance for both rigid and articulated categories with impressive visual effects. Codes and video results can be found at our project homepage: https://cams-hoi.github.io/

Key facts. Cited by 54 papers in the map (data through 7 Oct 2026). Builds on 36 of its 46 references that are in the map. First posted on arXiv 25 Mar 2023.

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36 of 46 references.

References · 36

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  2. 2020D-NeRF: Neural Radiance Fields for Dynamic Scenescited by 1,459
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  4. 2021Action-Conditioned 3D Human Motion Synthesis with Transformer VAEcited by 497
  5. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
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  7. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 397
  8. 2019Learning joint reconstruction of hands and manipulated objectscited by 377
  9. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 321
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  11. 2017Learning Discourse-level Diversity for Neural Dialog Models using Conditional Variational Autoencoderscited by 222
  12. 2020Grasping Field: Learning Implicit Representations for Human Graspscited by 178
24 more
  1. 2017HP-GAN: Probabilistic 3D human motion prediction via GANcited by 176
  2. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  3. 2019Category-Level Articulated Object Pose Estimationcited by 158
  4. 2020Reconstructing Hand-Object Interactions in the Wildcited by 143
  5. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 140
  6. 2019H+O: Unified Egocentric Recognition of 3D Hand-Object Poses and Interactionscited by 139
  7. 2020Synthesizing Long-Term 3D Human Motion and Interaction in 3D Scenescited by 135
  8. 2022COUCH: Towards Controllable Human-Chair Interactionscited by 134
  9. 2020We are More than Our Joints: Predicting how 3D Bodies Movecited by 115
  10. 2020HOPE-Net: A Graph-based Model for Hand-Object Pose Estimationcited by 112
  11. 2021D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactionscited by 109
  12. 2019Structured Prediction Helps 3D Human Motion Modellingcited by 96
  13. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 89
  14. 2018A Neural Temporal Model for Human Motion Predictioncited by 87
  15. 2019ContactGrasp: Functional Multi-finger Grasp Synthesis from Contactcited by 87
  16. 2019Context-aware Human Motion Predictioncited by 83
  17. 2021The Wanderings of Odysseus in 3D Scenescited by 59
  18. 2022AvatarCLIP: Zero-Shot Text-Driven Generation and Animation of 3D Avatarscited by 55
  19. 2023Locomotion-Action-Manipulation: Synthesizing Human-Scene Interactions in Complex 3D Environmentscited by 51
  20. 2019MoGlow: Probabilistic and controllable motion synthesis using normalising flowscited by 47
  21. 2020Deep Differentiable Grasp Planner for High-DOF Gripperscited by 39
  22. 2022Learning to Use Chopsticks in Diverse Gripping Stylescited by 29
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  24. 2022Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interactioncited by 23

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 10; 2024: 26; 2025: 8; 2026: 10.

54 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. 2024ShapeLLM: Universal 3D Object Understanding for Embodied Interactioncited by 133
  4. 2023Controllable Human-Object Interaction Synthesiscited by 107
  5. 2024TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understandingcited by 85
  6. 2023An Outlook into the Future of Egocentric Visioncited by 84
  7. 2024Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interactioncited by 84
  8. 2024OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completioncited by 78
  9. 2025InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactionscited by 67
  10. 2024InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interactioncited by 63
  11. 2024DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptionscited by 60
  12. 2024GraspXL: Generating Grasping Motions for Diverse Objects at Scalecited by 59
38 more
  1. 2024ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactionscited by 54
  2. 2023ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulationcited by 53
  3. 2024CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangementcited by 40
  4. 2024HIMO: A New Benchmark for Full-Body Human Interacting with Multiple Objectscited by 34
  5. 2025InterAct: Advancing Large-Scale Versatile 3D Human-Object Interaction Generationcited by 31
  6. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
  7. 2024BimArt: A Unified Approach for the Synthesis of 3D Bimanual Interaction with Articulated Objectscited by 29
  8. 2023Interactive Humanoid: Online Full-Body Motion Reaction Synthesis with Social Affordance Canonicalization and Forecastingcited by 27
  9. 2024ZeroHSI: Zero-Shot 4D Human-Scene Interaction by Video Generationcited by 25
  10. 2025A Survey on Human Interaction Motion Generationcited by 25
  11. 2023ROAM: Robust and Object-Aware Motion Generation Using Neural Pose Descriptorscited by 23
  12. 2024ManiDext: Hand-Object Manipulation Synthesis via Continuous Correspondence Embeddings and Residual-Guided Diffusioncited by 21
  13. 2024GEARS: Local Geometry-aware Hand-object Interaction Synthesiscited by 20
  14. 2025ChainHOI: Joint-based Kinematic Chain Modeling for Human-Object Interaction Generationcited by 19
  15. 2024PhysReaction: Physically Plausible Real-Time Humanoid Reaction Synthesis via Forward Dynamics Guided 4D Imitationcited by 18
  16. 2024ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Graspingcited by 18
  17. 2023DDF-HO: Hand-Held Object Reconstruction via Conditional Directed Distance Fieldcited by 16
  18. 2023MACS: Mass Conditioned 3D Hand and Object Motion Synthesiscited by 13
  19. 2024Diffgrasp: Whole-Body Grasping Synthesis Guided by Object Motion Using a Diffusion Modelcited by 13
  20. 2023MOHO: Learning Single-view Hand-held Object Reconstruction with Multi-view Occlusion-Aware Supervisioncited by 12
  21. 2024SyncDiff: Synchronized Motion Diffusion for Multi-Body Human-Object Interaction Synthesiscited by 12
  22. 2024InterDyn: Controllable Interactive Dynamics with Video Diffusion Modelscited by 11
  23. 2025CoDA: Coordinated Diffusion Noise Optimization for Whole-Body Manipulation of Articulated Objectscited by 10
  24. 2024GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interactioncited by 7
  25. 2024FastGrasp: Efficient Grasp Synthesis with Diffusioncited by 7
  26. 2024Hand-Centric Motion Refinement for 3D Hand-Object Interaction via Hierarchical Spatial-Temporal Modelingcited by 6
  27. 2026FlowHOI: Flow-based Semantics-Grounded Generation of Hand-Object Interactions for Dexterous Robot Manipulationcited by 6
  28. 2024Gaze-guided Hand-Object Interaction Synthesis: Dataset and Methodcited by 5
  29. 2026Unleashing Guidance Without Classifiers for Human-Object Interaction Animationcited by 5
  30. 2025SIGHT: Synthesizing Image-Text Conditioned and Geometry-Guided 3D Hand-Object Trajectoriescited by 3
  31. 2024COLLAGE: Collaborative Human-Agent Interaction Generation using Hierarchical Latent Diffusion and Language Modelscited by 2
  32. 2025Efficient Explicit Joint-level Interaction Modeling with Mamba for Text-guided HOI Generationcited by 2
  33. 2025Task-Oriented Human Grasp Synthesis via Context- and Task-Aware Diffuserscited by 1
  34. 2026GIRAF: Towards Generalizable Human Interactions with Articulated Objectscited by 1
  35. 2026UniCross: Unified Cross-Skill Dexterous Manipulation Synthesiscited by 1
  36. 2024GenHeld: Generating and Editing Handheld Objectscited by 0
  37. 2026OpenFS: Multi-Hand-Capable Fingerspelling Recognition with Implicit Signing-Hand Detection and Frame-Wise Letter-Conditioned Synthesiscited by 0
  38. 2026DuetHOI: Language-Guided Bimanual Hand--Object Motion Generation with Articulation Planning and Contact Refinementcited by 0

50 most cited of 54 All 54 (JSON)