mlsanityData to 14 Oct 2026

ContactGen: Generative Contact Modeling for Grasp Generation

arXiv 2310.03740 ↗First posted 5 Oct 2023cs.CV cs.LG cs.ROcited by 53

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Abstract (arXiv)

This paper presents a novel object-centric contact representation ContactGen for hand-object interaction. The ContactGen comprises three components: a contact map indicates the contact location, a part map represents the contact hand part, and a direction map tells the contact direction within each part. Given an input object, we propose a conditional generative model to predict ContactGen and adopt model-based optimization to predict diverse and geometrically feasible grasps. Experimental results demonstrate our method can generate high-fidelity and diverse human grasps for various objects. Project page: https://stevenlsw.github.io/contactgen/

Key facts. Cited by 53 papers in the map (data through 14 Oct 2026). Builds on 41 of its 78 references that are in the map. First posted on arXiv 5 Oct 2023.

Builds on

41 of 78 references.

References · 41

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  4. 2020Implicit Geometric Regularization for Learning Shapescited by 710
  5. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 405
  6. 2019Learning joint reconstruction of hands and manipulated objectscited by 378
  7. 2019FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Imagescited by 271
  8. 2022BEHAVE: Dataset and Method for Tracking Human Object Interactionscited by 249
  9. 2020InterHand2.6M: A Dataset and Baseline for 3D Interacting Hand Pose Estimation from a Single RGB Imagecited by 245
  10. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 242
  11. 2020ContactPose: A Dataset of Grasps with Object Contact and Hand Posecited by 183
  12. 2022Capturing and Inferring Dense Full-Body Human-Scene Contactcited by 180
29 more
  1. 2020Grasping Field: Learning Implicit Representations for Human Graspscited by 179
  2. 2020Populating 3D Scenes by Learning Human-Scene Interactioncited by 164
  3. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  4. 2019NASA: Neural Articulated Shape Approximationcited by 149
  5. 2019ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imagingcited by 147
  6. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 144
  7. 2019H+O: Unified Egocentric Recognition of 3D Hand-Object Poses and Interactionscited by 141
  8. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 141
  9. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 139
  10. 2022COUCH: Towards Controllable Human-Chair Interactionscited by 135
  11. 2020CPF: Learning a Contact Potential Field to Model the Hand-Object Interactioncited by 128
  12. 2019Generating 3D People in Scenes without Peoplecited by 127
  13. 2015Capturing Hands in Action using Discriminative Salient Points and Physics Simulationcited by 115
  14. 2020HOPE-Net: A Graph-based Model for Hand-Object Pose Estimationcited by 112
  15. 2021LEAP: Learning Articulated Occupancy of Peoplecited by 107
  16. 2022CHORE: Contact, Human and Object REconstruction from a single RGB imagecited by 95
  17. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 91
  18. 2018Jacquard: A Large Scale Dataset for Robotic Grasp Detectioncited by 87
  19. 2019ContactGrasp: Functional Multi-finger Grasp Synthesis from Contactcited by 87
  20. 2019Holistic++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsensecited by 71
  21. 2022TOCH: Spatio-Temporal Object-to-Hand Correspondence for Motion Refinementcited by 70
  22. 2022AlignSDF: Pose-Aligned Signed Distance Fields for Hand-Object Reconstructioncited by 59
  23. 2022Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Handscited by 51
  24. 2021A Skeleton-Driven Neural Occupancy Representation for Articulated Handscited by 50
  25. 2022FLEX: Full-Body Grasping Without Full-Body Graspscited by 46
  26. 2020Detecting Hands and Recognizing Physical Contact in the Wildcited by 38
  27. 2018Task-Oriented Hand Motion Retargeting for Dexterous Manipulation Imitationcited by 25
  28. 2017Back to RGB: 3D tracking of hands and hand-object interactions based on short-baseline stereocited by 8
  29. 2021LatentHuman: Shape-and-Pose Disentangled Latent Representation for Human Bodiescited by 6

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 23; 2025: 14; 2026: 15.

53 papers.

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  1. 2024TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understandingcited by 88
  2. 2024InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interactioncited by 64
  3. 2024G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesiscited by 43
  4. 2025InterAct: Advancing Large-Scale Versatile 3D Human-Object Interaction Generationcited by 32
  5. 2023UGG: Unified Generative Graspingcited by 30
  6. 2024BimArt: A Unified Approach for the Synthesis of 3D Bimanual Interaction with Articulated Objectscited by 30
  7. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
  8. 2024InterHandGen: Two-Hand Interaction Generation via Cascaded Reverse Diffusioncited by 28
  9. 2024Cross-Embodiment Dexterous Grasping with Reinforcement Learningcited by 27
  10. 2025A Survey on Human Interaction Motion Generationcited by 25
  11. 2025Dex1B: Learning with 1B Demonstrations for Dexterous Manipulationcited by 24
  12. 2024ManiDext: Hand-Object Manipulation Synthesis via Continuous Correspondence Embeddings and Residual-Guided Diffusioncited by 21
38 more
  1. 2024GEARS: Local Geometry-aware Hand-object Interaction Synthesiscited by 20
  2. 2024ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Graspingcited by 18
  3. 2024SyncDiff: Synchronized Motion Diffusion for Multi-Body Human-Object Interaction Synthesiscited by 14
  4. 2025Learning Dense Hand Contact Estimation from Imbalanced Datacited by 14
  5. 2024Diffgrasp: Whole-Body Grasping Synthesis Guided by Object Motion Using a Diffusion Modelcited by 13
  6. 2026VLANeXt: Recipes for Building Strong VLA Modelscited by 12
  7. 2024ContactDexNet: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mappingcited by 11
  8. 2024NL2Contact: Natural Language Guided 3D Hand-Object Contact Modeling with Diffusion Modelcited by 10
  9. 2025How Do I Do That? Synthesizing 3D Hand Motion and Contacts for Everyday Interactionscited by 10
  10. 2025CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representationscited by 9
  11. 2025TOUCH: Text-guided Controllable Generation of Free-Form Hand-Object Interactionscited by 8
  12. 2024Text2Grasp: Grasp synthesis by text prompts of object grasping partscited by 7
  13. 2024FastGrasp: Efficient Grasp Synthesis with Diffusioncited by 7
  14. 2025Ponimator: Unfolding Interactive Pose for Versatile Human-human Interaction Animationcited by 7
  15. 20243D Whole-body Grasp Synthesis with Directional Controllabilitycited by 6
  16. 2024Gaze-guided Hand-Object Interaction Synthesis: Dataset and Methodcited by 5
  17. 2025G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generationcited by 5
  18. 2025Open-world Hand-Object Interaction Video Generation Based on Structure and Contact-aware Representationcited by 5
  19. 2024Decomposed Vector-Quantized Variational Autoencoder for Human Grasp Generationcited by 4
  20. 2025Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generationcited by 3
  21. 2024Monocular pose estimation of articulated open surgery tools -- in the wildcited by 2
  22. 2025FunHOI: Annotation-Free 3D Hand-Object Interaction Generation via Functional Text Guidancecited by 2
  23. 2026AffordGrasp: Cross-Modal Diffusion for Affordance-Aware Grasp Synthesiscited by 2
  24. 2026JointHOI: Jointly Generating Contact Maps Enhances Hand Object Interaction Generationcited by 2
  25. 2026HOPE: Hand-Object Pressure Estimation from Monocular Videoscited by 2
  26. 2024Kinematics-based 3D Human-Object Interaction Reconstruction from Single Viewcited by 1
  27. 2024RegionGrasp: A Novel Task for Contact Region Controllable Hand Grasp Generationcited by 1
  28. 2025Task-Oriented Human Grasp Synthesis via Context- and Task-Aware Diffuserscited by 1
  29. 2026KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulationcited by 1
  30. 2026Hand-Object Interaction in the Age of Large Foundation Models:Reconstruction, Generation, and Embodied Transfercited by 1
  31. 2026ConGraspXL: Controllable Constraint-Conditioned Dexterous Grasping Motion Synthesiscited by 1
  32. 2024GenHeld: Generating and Editing Handheld Objectscited by 0
  33. 2025PartHOI: Part-based Hand-Object Interaction Transfer via Generalized Cylinderscited by 0
  34. 2026DuetHOI: Language-Guided Bimanual Hand--Object Motion Generation with Articulation Planning and Contact Refinementcited by 0
  35. 2026LEXIS: LatEnt ProXimal Interaction Signatures for 3D HOI from an Imagecited by 0
  36. 2026PhysHanDI: Physics-Based Reconstruction of Hand-Deformable Object Interactionscited by 0
  37. 2026SECOND-Grasp: Semantic Contact-guided Dexterous Graspingcited by 0
  38. 2026Geometry-Guided Modeling of Foundation Features Enables Generalizable Object Shape Deformation Learningcited by 0

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