# BG-HOP: A Bimanual Generative Hand-Object Prior

arXiv: https://arxiv.org/abs/2506.09068 · HTML: https://mlsanity.com/paper/2506.09068/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 19 references that are in the map.
- First posted on arXiv 8 Jun 2025.

## Builds on (most cited first, 17 of 17)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction](https://mlsanity.com/paper/2203.01577/) (2022)
- [DexYCB: A Benchmark for Capturing Hand Grasping of Objects](https://mlsanity.com/paper/2104.04631/) (2021)
- [ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation](https://mlsanity.com/paper/2204.13662/) (2022)
- [OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interaction](https://mlsanity.com/paper/2203.15709/) (2022)
- [Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interaction](https://mlsanity.com/paper/2404.00562/) (2024)
- [OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completion](https://mlsanity.com/paper/2403.19417/) (2024)
- [HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Video](https://mlsanity.com/paper/2311.18448/) (2023)
- [DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptions](https://mlsanity.com/paper/2403.17827/) (2024)
- [ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation](https://mlsanity.com/paper/2309.03891/) (2023)
- [G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesis](https://mlsanity.com/paper/2404.12383/) (2024)
- [GigaHands: A Massive Annotated Dataset of Bimanual Hand Activities](https://mlsanity.com/paper/2412.04244/) (2024)
- [Reconstructing Hand-Held Objects in 3D from Images and Videos](https://mlsanity.com/paper/2404.06507/) (2024)
- [Bimanual Grasp Synthesis for Dexterous Robot Hands](https://mlsanity.com/paper/2411.15903/) (2024)
- [1st Place Solution to the 8th HANDS Workshop Challenge -- ARCTIC Track: 3DGS-based Bimanual Category-agnostic Interaction Reconstruction](https://mlsanity.com/paper/2409.19215/) (2024)

## Abstract (arXiv)

In this work, we present BG-HOP, a generative prior that seeks to model bimanual hand-object interactions in 3D. We address the challenge of limited bimanual interaction data by extending existing single-hand generative priors, demonstrating preliminary results in capturing the joint distribution of hands and objects. Our experiments showcase the model's capability to generate bimanual interactions and synthesize grasps for given objects. We make code and models publicly available.