# Single-View Scene Point Cloud Human Grasp Generation

arXiv: https://arxiv.org/abs/2404.15815 · HTML: https://mlsanity.com/paper/2404.15815/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 58 references that are in the map.
- First posted on arXiv 24 Apr 2024.

## Builds on (most cited first, 30 of 48)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Structured Denoising Diffusion Models in Discrete State-Spaces](https://mlsanity.com/paper/2107.03006/) (2021)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [Cascaded Diffusion Models for High Fidelity Image Generation](https://mlsanity.com/paper/2106.15282/) (2021)
- [Diffusion-LM Improves Controllable Text Generation](https://mlsanity.com/paper/2205.14217/) (2022)
- [Blended Diffusion for Text-driven Editing of Natural Images](https://mlsanity.com/paper/2111.14818/) (2021)
- [WaveGrad: Estimating Gradients for Waveform Generation](https://mlsanity.com/paper/2009.00713/) (2020)
- [Label-Efficient Semantic Segmentation with Diffusion Models](https://mlsanity.com/paper/2112.03126/) (2021)
- [GRAB: A Dataset of Whole-Body Human Grasping of Objects](https://mlsanity.com/paper/2008.11200/) (2020)
- [PCN: Point Completion Network](https://mlsanity.com/paper/1808.00671/) (2018)
- [Learning joint reconstruction of hands and manipulated objects](https://mlsanity.com/paper/1904.05767/) (2019)
- [PoinTr: Diverse Point Cloud Completion with Geometry-Aware Transformers](https://mlsanity.com/paper/2108.08839/) (2021)
- [Learning Gradient Fields for Shape Generation](https://mlsanity.com/paper/2008.06520/) (2020)
- [Diffusion-based Generation, Optimization, and Planning in 3D Scenes](https://mlsanity.com/paper/2301.06015/) (2023)
- [DexMV: Imitation Learning for Dexterous Manipulation from Human Videos](https://mlsanity.com/paper/2108.05877/) (2021)
- [Grasping Field: Learning Implicit Representations for Human Grasps](https://mlsanity.com/paper/2008.04451/) (2020)
- [GRNet: Gridding Residual Network for Dense Point Cloud Completion](https://mlsanity.com/paper/2006.03761/) (2020)
- [Hand-Object Contact Consistency Reasoning for Human Grasps Generation](https://mlsanity.com/paper/2104.03304/) (2021)
- [PF-Net: Point Fractal Network for 3D Point Cloud Completion](https://mlsanity.com/paper/2003.00410/) (2020)
- [Reconstructing Hand-Object Interactions in the Wild](https://mlsanity.com/paper/2012.09856/) (2020)
- [H+O: Unified Egocentric Recognition of 3D Hand-Object Poses and Interactions](https://mlsanity.com/paper/1904.05349/) (2019)
- [Leveraging Photometric Consistency over Time for Sparsely Supervised Hand-Object Reconstruction](https://mlsanity.com/paper/2004.13449/) (2020)
- [Morphing and Sampling Network for Dense Point Cloud Completion](https://mlsanity.com/paper/1912.00280/) (2019)
- [OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interaction](https://mlsanity.com/paper/2203.15709/) (2022)
- [CPF: Learning a Contact Potential Field to Model the Hand-Object Interaction](https://mlsanity.com/paper/2012.00924/) (2020)
- [UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy](https://mlsanity.com/paper/2303.00938/) (2023)

## Built on by (most cited first, 4 of 4)

- [Diffusion Models for Robotic Manipulation: A Survey](https://mlsanity.com/paper/2504.08438/) (2025)
- [Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation](https://mlsanity.com/paper/2406.14235/) (2024)
- [An Economic Framework for 6-DoF Grasp Detection](https://mlsanity.com/paper/2407.08366/) (2024)
- [Task-Oriented 6-DoF Grasp Pose Detection in Clutters](https://mlsanity.com/paper/2502.16976/) (2025)

## Abstract (arXiv)

In this work, we explore a novel task of generating human grasps based on single-view scene point clouds, which more accurately mirrors the typical real-world situation of observing objects from a single viewpoint. Due to the incompleteness of object point clouds and the presence of numerous scene points, the generated hand is prone to penetrating into the invisible parts of the object and the model is easily affected by scene points. Thus, we introduce S2HGrasp, a framework composed of two key modules: the Global Perception module that globally perceives partial object point clouds, and the DiffuGrasp module designed to generate high-quality human grasps based on complex inputs that include scene points. Additionally, we introduce S2HGD dataset, which comprises approximately 99,000 single-object single-view scene point clouds of 1,668 unique objects, each annotated with one human grasp. Our extensive experiments demonstrate that S2HGrasp can not only generate natural human grasps regardless of scene points, but also effectively prevent penetration between the hand and invisible parts of the object. Moreover, our model showcases strong generalization capability when applied to unseen objects. Our code and dataset are available at https://github.com/iSEE-Laboratory/S2HGrasp.