Giving a Hand to Diffusion Models: a Two-Stage Approach to Improving Conditional Human Image Generation
On the map: Diffusion models → Diffusion and flow policies for robotics
Abstract (arXiv)
Recent years have seen significant progress in human image generation, particularly with the advancements in diffusion models. However, existing diffusion methods encounter challenges when producing consistent hand anatomy and the generated images often lack precise control over the hand pose. To address this limitation, we introduce a novel approach to pose-conditioned human image generation, dividing the process into two stages: hand generation and subsequent body outpainting around the hands. We propose training the hand generator in a multi-task setting to produce both hand images and their corresponding segmentation masks, and employ the trained model in the first stage of generation. An adapted ControlNet model is then used in the second stage to outpaint the body around the generated hands, producing the final result. A novel blending technique is introduced to preserve the hand details during the second stage that combines the results of both stages in a coherent way. This involves sequential expansion of the outpainted region while fusing the latent representations, to ensure a seamless and cohesive synthesis of the final image. Experimental evaluations demonstrate the superiority of our proposed method over state-of-the-art techniques, in both pose accuracy and image quality, as validated on the HaGRID dataset. Our approach not only enhances the quality of the generated hands but also offers improved control over hand pose, advancing the capabilities of pose-conditioned human image generation. The source code of the proposed approach is available at https://github.com/apelykh/hand-to-diffusion.
Key facts. Cited by 13 papers in the map (data through 13 Oct 2026). Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models. Builds on 40 of its 48 references that are in the map. First posted on arXiv 15 Mar 2024.
Builds on
40 of 48 references.
Closest ancestors · 1
Same direction, newest first
- 2023HandRefiner: Refining Malformed Hands in Generated Images by Diffusion-based Conditional Inpainting29 Nov
Other references · 39
- 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,588
- 2020Denoising Diffusion Probabilistic Modelscited by 20,952
- 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,777
- 2014Microsoft COCO: Common Objects in Contextcited by 17,550
- 2019Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformercited by 14,549
- 2020Denoising Diffusion Implicit Modelscited by 9,718
- 2021Diffusion Models Beat GANs on Image Synthesiscited by 8,213
- 2023Segment Anythingcited by 8,195
- 2023Visual Instruction Tuningcited by 7,827
- 2017Mask R-CNNcited by 7,266
- 2015Deep Unsupervised Learning using Nonequilibrium Thermodynamicscited by 7,023
- 2022Hierarchical Text-Conditional Image Generation with CLIP Latentscited by 6,564
27 more
- 2022Photorealistic Text-to-Image Diffusion Models with Deep Language Understandingcited by 6,339
- 2023Adding Conditional Control to Text-to-Image Diffusion Modelscited by 5,484
- 2023SDXL: Improving Latent Diffusion Models for High-Resolution Image Synthesiscited by 4,323
- 2014Going Deeper with Convolutionscited by 4,239
- 2021Improved Denoising Diffusion Probabilistic Modelscited by 3,751
- 2021GLIDE: Towards Photorealistic Image Generation and Editing with Text-Guided Diffusion Modelscited by 3,605
- 2016Gaussian Error Linear Units (GELUs)cited by 3,472
- 2017Multi-Task Learning Using Uncertainty to Weigh Losses for Scene Geometry and Semanticscited by 1,348
- 2023T2I-Adapter: Learning Adapters to Dig out More Controllable Ability for Text-to-Image Diffusion Modelscited by 1,342
- 2021Blended Diffusion for Text-driven Editing of Natural Imagescited by 926
- 2019MediaPipe: A Framework for Building Perception Pipelinescited by 574
- 2022Blended Latent Diffusioncited by 432
- 2019FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Imagescited by 271
- 2017Pose Guided Person Image Generationcited by 251
- 2020InterHand2.6M: A Dataset and Baseline for 3D Interacting Hand Pose Estimation from a Single RGB Imagecited by 245
- 2017Deformable GANs for Pose-based Human Image Generationcited by 166
- 2023Concept Sliders: LoRA Adaptors for Precise Control in Diffusion Modelscited by 151
- 2019Progressive Pose Attention Transfer for Person Image Generationcited by 138
- 2022Person Image Synthesis via Denoising Diffusion Modelcited by 104
- 2023HumanSD: A Native Skeleton-Guided Diffusion Model for Human Image Generationcited by 104
- 2023Advancing Pose-Guided Image Synthesis with Progressive Conditional Diffusion Modelscited by 104
- 2023Multimodal Garment Designer: Human-Centric Latent Diffusion Models for Fashion Image Editingcited by 62
- 2022Signing at Scale: Learning to Co-Articulate Signs for Large-Scale Photo-Realistic Sign Language Productioncited by 61
- 2022Cross Attention Based Style Distribution for Controllable Person Image Synthesiscited by 45
- 2022HaGRID - HAnd Gesture Recognition Image Datasetcited by 43
- 2023A Dataset of Relighted 3D Interacting Handscited by 35
- 2020Everybody Sign Now: Translating Spoken Language to Photo Realistic Sign Language Videocited by 34
Built on by
Citing papers per year: 2024: 6; 2025: 5; 2026: 2.
13 papers.
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- 2024CFG++: Manifold-constrained Classifier Free Guidance for Diffusion Modelscited by 145
- 2024ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Graspingcited by 18
- 2025Can Diffusion Models Learn Hidden Inter-Feature Rules Behind Images?cited by 15
- 2024Detecting Human Artifacts from Text-to-Image Modelscited by 12
- 2024Is this Generated Person Existed in Real-world? Fine-grained Detecting and Calibrating Abnormal Human-bodycited by 12
- 2024VTON-HandFit: Virtual Try-on for Arbitrary Hand Pose Guided by Hand Priors Embeddingcited by 11
- 2024GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interactioncited by 7
- 2025SLRTP2025 Sign Language Production Challenge: Methodology, Results, and Future Workcited by 4
- 2026Glove2Hand: Synthesizing Natural Hand-Object Interaction from Multi-Modal Sensing Glovescited by 3
- 2026PAM: A Pose-Appearance-Motion Engine for Sim-to-Real HOI Video Generationcited by 3
- 2025HanDrawer: Leveraging Spatial Information to Render Realistic Hands Using a Conditional Diffusion Model in Single Stagecited by 1
- 2025MGHanD: Multi-modal Guidance for authentic Hand Diffusioncited by 1
- 2026PAM: A Pose-Appearance-Motion Engine for Sim-to-Real HOI Video Generation23 Mar 2026
- 2026Glove2Hand: Synthesizing Natural Hand-Object Interaction from Multi-Modal Sensing Gloves21 Mar 2026
- 2025SLRTP2025 Sign Language Production Challenge: Methodology, Results, and Future Work9 Aug 2025
- 20253D Hand Mesh-Guided AI-Generated Malformed Hand Refinement with Hand Pose Transformation via Diffusion Model15 Jun 2025
- 2025MGHanD: Multi-modal Guidance for authentic Hand Diffusion11 Mar 2025
- 2025HanDrawer: Leveraging Spatial Information to Render Realistic Hands Using a Conditional Diffusion Model in Single Stage3 Mar 2025
- 2025Can Diffusion Models Learn Hidden Inter-Feature Rules Behind Images?7 Feb 2025
- 2024ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Grasping18 Dec 2024
- 2024Is this Generated Person Existed in Real-world? Fine-grained Detecting and Calibrating Abnormal Human-body21 Nov 2024
- 2024Detecting Human Artifacts from Text-to-Image Models21 Nov 2024
- 2024GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interaction17 Oct 2024
- 2024VTON-HandFit: Virtual Try-on for Arbitrary Hand Pose Guided by Hand Priors Embedding22 Aug 2024
1 more
- 2024CFG++: Manifold-constrained Classifier Free Guidance for Diffusion Modelscited by 145
- 2025Can Diffusion Models Learn Hidden Inter-Feature Rules Behind Images?cited by 15
- 2025HanDrawer: Leveraging Spatial Information to Render Realistic Hands Using a Conditional Diffusion Model in Single Stagecited by 1
- 20253D Hand Mesh-Guided AI-Generated Malformed Hand Refinement with Hand Pose Transformation via Diffusion Modelcited by 0
- 20253D Hand Mesh-Guided AI-Generated Malformed Hand Refinement with Hand Pose Transformation via Diffusion Model15 Jun 2025
- 2025HanDrawer: Leveraging Spatial Information to Render Realistic Hands Using a Conditional Diffusion Model in Single Stage3 Mar 2025
- 2025Can Diffusion Models Learn Hidden Inter-Feature Rules Behind Images?7 Feb 2025
- 2024CFG++: Manifold-constrained Classifier Free Guidance for Diffusion Models12 Jun 2024
- 2024ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Graspingcited by 18
- 2024Detecting Human Artifacts from Text-to-Image Modelscited by 12
- 2024Is this Generated Person Existed in Real-world? Fine-grained Detecting and Calibrating Abnormal Human-bodycited by 12
- 2024VTON-HandFit: Virtual Try-on for Arbitrary Hand Pose Guided by Hand Priors Embeddingcited by 11
- 2024GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interactioncited by 7
- 2025SLRTP2025 Sign Language Production Challenge: Methodology, Results, and Future Workcited by 4
- 2026Glove2Hand: Synthesizing Natural Hand-Object Interaction from Multi-Modal Sensing Glovescited by 3
- 2026PAM: A Pose-Appearance-Motion Engine for Sim-to-Real HOI Video Generationcited by 3
- 2025MGHanD: Multi-modal Guidance for authentic Hand Diffusioncited by 1
- 2026PAM: A Pose-Appearance-Motion Engine for Sim-to-Real HOI Video Generation23 Mar 2026
- 2026Glove2Hand: Synthesizing Natural Hand-Object Interaction from Multi-Modal Sensing Gloves21 Mar 2026
- 2025SLRTP2025 Sign Language Production Challenge: Methodology, Results, and Future Work9 Aug 2025
- 2025MGHanD: Multi-modal Guidance for authentic Hand Diffusion11 Mar 2025
- 2024ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Grasping18 Dec 2024
- 2024Is this Generated Person Existed in Real-world? Fine-grained Detecting and Calibrating Abnormal Human-body21 Nov 2024
- 2024Detecting Human Artifacts from Text-to-Image Models21 Nov 2024
- 2024GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interaction17 Oct 2024
- 2024VTON-HandFit: Virtual Try-on for Arbitrary Hand Pose Guided by Hand Priors Embedding22 Aug 2024
Similar, not cited
Close in wording, no citation either way
- 2024HanDiffuser: Text-to-Image Generation With Realistic Hand Appearances
- 2024FastGrasp: Efficient Grasp Synthesis with Diffusion
- 2024Adaptive Multi-Modal Control of Digital Human Hand Synthesis Using a Region-Aware Cycle Loss
- 2023Affordance Diffusion: Synthesizing Hand-Object Interactions
- 2024FoundHand: Large-Scale Domain-Specific Learning for Controllable Hand Image Generation
- 2024InterHandGen: Two-Hand Interaction Generation via Cascaded Reverse Diffusion
- 2024HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Data
- 2023Detecting and Restoring Non-Standard Hands in Stable Diffusion Generated Images