# HHMR: Holistic Hand Mesh Recovery by Enhancing the Multimodal Controllability of Graph Diffusion Models

arXiv: https://arxiv.org/abs/2406.01334 · HTML: https://mlsanity.com/paper/2406.01334/

## Key facts

- Cited by 14 papers in the map (data through 14 Oct 2026).
- Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models.
- Builds on 50 of its 64 references that are in the map.
- First posted on arXiv 3 Jun 2024.

## Placed in

- Diffusion models / [Diffusion and flow policies for robotics](https://mlsanity.com/diffusion/diffusion-and-flow-policies-for-robotics/)

## Builds on (most cited first, 30 of 50)

- [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)
- [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)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Deep Unsupervised Learning using Nonequilibrium Thermodynamics](https://mlsanity.com/paper/1503.03585/) (2015)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Gaussian Error Linear Units (GELUs)](https://mlsanity.com/paper/1606.08415/) (2016)
- [DreamBooth: Fine Tuning Text-to-Image Diffusion Models for Subject-Driven Generation](https://mlsanity.com/paper/2208.12242/) (2022)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [Convolutional Neural Networks on Graphs with Fast Localized Spectral Filtering](https://mlsanity.com/paper/1606.09375/) (2016)
- [Expressive Body Capture: 3D Hands, Face, and Body from a Single Image](https://mlsanity.com/paper/1904.05866/) (2019)
- [Magic3D: High-Resolution Text-to-3D Content Creation](https://mlsanity.com/paper/2211.10440/) (2022)
- [Human Motion Diffusion Model](https://mlsanity.com/paper/2209.14916/) (2022)
- [End-to-End Human Pose and Mesh Reconstruction with Transformers](https://mlsanity.com/paper/2012.09760/) (2020)
- [Human Motion Diffusion as a Generative Prior](https://mlsanity.com/paper/2303.01418/) (2023)
- [I2L-MeshNet: Image-to-Lixel Prediction Network for Accurate 3D Human Pose and Mesh Estimation from a Single RGB Image](https://mlsanity.com/paper/2008.03713/) (2020)
- [FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Images](https://mlsanity.com/paper/1909.04349/) (2019)
- [Mesh Graphormer](https://mlsanity.com/paper/2104.00272/) (2021)
- [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)
- [3D Hand Shape and Pose from Images in the Wild](https://mlsanity.com/paper/1902.03451/) (2019)
- [3D Hand Shape and Pose Estimation from a Single RGB Image](https://mlsanity.com/paper/1903.00812/) (2019)
- [Probabilistic Modeling for Human Mesh Recovery](https://mlsanity.com/paper/2108.11944/) (2021)
- [PyMAF-X: Towards Well-aligned Full-body Model Regression from Monocular Images](https://mlsanity.com/paper/2207.06400/) (2022)
- [Weakly-Supervised Mesh-Convolutional Hand Reconstruction in the Wild](https://mlsanity.com/paper/2004.01946/) (2020)
- [CPF: Learning a Contact Potential Field to Model the Hand-Object Interaction](https://mlsanity.com/paper/2012.00924/) (2020)
- [End-to-end Hand Mesh Recovery from a Monocular RGB Image](https://mlsanity.com/paper/1902.09305/) (2019)
- [Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimation](https://mlsanity.com/paper/2104.14639/) (2021)

## Built on by (most cited first, 14 of 14)

- [Hamba: Single-view 3D Hand Reconstruction with Graph-guided Bi-Scanning Mamba](https://mlsanity.com/paper/2407.09646/) (2024)
- [Predicting 4D Hand Trajectory from Monocular Videos](https://mlsanity.com/paper/2501.08329/) (2025)
- [BIGS: Bimanual Category-agnostic Interaction Reconstruction from Monocular Videos via 3D Gaussian Splatting](https://mlsanity.com/paper/2504.09097/) (2025)
- [MaskHand: Generative Masked Modeling for Robust Hand Mesh Reconstruction in the Wild](https://mlsanity.com/paper/2412.13393/) (2024)
- [Diffusion-based 3D Hand Motion Recovery with Intuitive Physics](https://mlsanity.com/paper/2508.01835/) (2025)
- [Uni-Hand: Universal Hand Motion Forecasting in Egocentric Views](https://mlsanity.com/paper/2511.12878/) (2025)
- [PAD-Hand: Physics-Aware Diffusion for Hand Motion Recovery](https://mlsanity.com/paper/2603.26068/) (2026)
- [Towards Dynamic 3D Reconstruction of Hand-Instrument Interaction in Ophthalmic Surgery](https://mlsanity.com/paper/2505.17677/) (2025)
- [Reconstructing Objects along Hand Interaction Timelines in Egocentric Video](https://mlsanity.com/paper/2512.07394/) (2025)
- [UniHand: A Unified Model for Diverse Controlled 4D Hand Motion Modeling](https://mlsanity.com/paper/2602.21631/) (2026)
- [EgoLoc: A Generalizable Solution for Temporal Interaction Localization in Egocentric Videos](https://mlsanity.com/paper/2508.12349/) (2025)
- [Cascaded Diffusion Framework for Probabilistic Coarse-to-Fine Hand Pose Estimation](https://mlsanity.com/paper/2510.00527/) (2025)
- [Fast-HaMeR: Boosting Hand Mesh Reconstruction using Knowledge Distillation](https://mlsanity.com/paper/2603.16444/) (2026)
- [UST-Hand: An Uncertainty-aware Spatiotemporal Point Cloud Interaction Network for 3D Self-supervised Hand Pose Estimation](https://mlsanity.com/paper/2605.17742/) (2026)

## Abstract (arXiv)

Recent years have witnessed a trend of the deep integration of the generation and reconstruction paradigms. In this paper, we extend the ability of controllable generative models for a more comprehensive hand mesh recovery task: direct hand mesh generation, inpainting, reconstruction, and fitting in a single framework, which we name as Holistic Hand Mesh Recovery (HHMR). Our key observation is that different kinds of hand mesh recovery tasks can be achieved by a single generative model with strong multimodal controllability, and in such a framework, realizing different tasks only requires giving different signals as conditions. To achieve this goal, we propose an all-in-one diffusion framework based on graph convolution and attention mechanisms for holistic hand mesh recovery. In order to achieve strong control generation capability while ensuring the decoupling of multimodal control signals, we map different modalities to a shared feature space and apply cross-scale random masking in both modality and feature levels. In this way, the correlation between different modalities can be fully exploited during the learning of hand priors. Furthermore, we propose Condition-aligned Gradient Guidance to enhance the alignment of the generated model with the control signals, which significantly improves the accuracy of the hand mesh reconstruction and fitting. Experiments show that our novel framework can realize multiple hand mesh recovery tasks simultaneously and outperform the existing methods in different tasks, which provides more possibilities for subsequent downstream applications including gesture recognition, pose generation, mesh editing, and so on.