# GraphiContact: Pose-aware Human-Scene Robust Contact Perception for Interactive Systems

arXiv: https://arxiv.org/abs/2603.20310 · HTML: https://mlsanity.com/paper/2603.20310/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 46 of its 59 references that are in the map.
- First posted on arXiv 19 Mar 2026.

## Builds on (most cited first, 30 of 46)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [HuMoR: 3D Human Motion Model for Robust Pose Estimation](https://mlsanity.com/paper/2105.04668/) (2021)
- [MACE: Mass Concept Erasure in Diffusion Models](https://mlsanity.com/paper/2403.06135/) (2024)
- [Resolving 3D Human Pose Ambiguities with 3D Scene Constraints](https://mlsanity.com/paper/1908.06963/) (2019)
- [Convolutional Mesh Regression for Single-Image Human Shape Reconstruction](https://mlsanity.com/paper/1905.03244/) (2019)
- [Mesh Graphormer](https://mlsanity.com/paper/2104.00272/) (2021)
- [BEHAVE: Dataset and Method for Tracking Human Object Interactions](https://mlsanity.com/paper/2204.06950/) (2022)
- [ContactPose: A Dataset of Grasps with Object Contact and Hand Pose](https://mlsanity.com/paper/2007.09545/) (2020)
- [TF-ICON: Diffusion-Based Training-Free Cross-Domain Image Composition](https://mlsanity.com/paper/2307.12493/) (2023)
- [Capturing and Inferring Dense Full-Body Human-Scene Contact](https://mlsanity.com/paper/2206.09553/) (2022)
- [Populating 3D Scenes by Learning Human-Scene Interaction](https://mlsanity.com/paper/2012.11581/) (2020)
- [Collaborative Regression of Expressive Bodies using Moderation](https://mlsanity.com/paper/2105.05301/) (2021)
- [CPF: Learning a Contact Potential Field to Model the Hand-Object Interaction](https://mlsanity.com/paper/2012.00924/) (2020)
- [Robust Watermarking Using Generative Priors Against Image Editing: From Benchmarking to Advances](https://mlsanity.com/paper/2410.18775/) (2024)
- [CHORE: Contact, Human and Object REconstruction from a single RGB image](https://mlsanity.com/paper/2204.02445/) (2022)
- [EraseAnything: Enabling Concept Erasure in Rectified Flow Transformers](https://mlsanity.com/paper/2412.20413/) (2024)
- [On Self-Contact and Human Pose](https://mlsanity.com/paper/2104.03176/) (2021)
- [Set You Straight: Auto-Steering Denoising Trajectories to Sidestep Unwanted Concepts](https://mlsanity.com/paper/2504.12782/) (2025)
- [DECO: Dense Estimation of 3D Human-Scene Contact In The Wild](https://mlsanity.com/paper/2309.15273/) (2023)
- [LEMON: Learning 3D Human-Object Interaction Relation from 2D Images](https://mlsanity.com/paper/2312.08963/) (2023)
- [Detecting Human-Object Contact in Images](https://mlsanity.com/paper/2303.03373/) (2023)
- [Zolly: Zoom Focal Length Correctly for Perspective-Distorted Human Mesh Reconstruction](https://mlsanity.com/paper/2303.13796/) (2023)
- [Detecting Hands and Recognizing Physical Contact in the Wild](https://mlsanity.com/paper/2010.09676/) (2020)
- [Does FLUX Already Know How to Perform Physically Plausible Image Composition?](https://mlsanity.com/paper/2509.21278/) (2025)
- [POTTER: Pooling Attention Transformer for Efficient Human Mesh Recovery](https://mlsanity.com/paper/2303.13357/) (2023)
- [HULC: 3D Human Motion Capture with Pose Manifold Sampling and Dense Contact Guidance](https://mlsanity.com/paper/2205.05677/) (2022)
- [Joint Reconstruction of 3D Human and Object via Contact-Based Refinement Transformer](https://mlsanity.com/paper/2404.04819/) (2024)
- [DragFlow: Unleashing DiT Priors with Region Based Supervision for Drag Editing](https://mlsanity.com/paper/2510.02253/) (2025)
- [Hulk: A Universal Knowledge Translator for Human-Centric Tasks](https://mlsanity.com/paper/2312.01697/) (2023)
- [Reconstructing Humans with a Biomechanically Accurate Skeleton](https://mlsanity.com/paper/2503.21751/) (2025)

## Built on by (most cited first, 1 of 1)

- [Editing on the Generative Manifold: A Theoretical and Empirical Study of General Diffusion-Based Image Editing Trade-offs](https://mlsanity.com/paper/2603.29736/) (2026)

## Abstract (arXiv)

Monocular vertex-level human-scene contact prediction is a fundamental capability for interactive systems such as assistive monitoring, embodied AI, and rehabilitation analysis. In this work, we study this task jointly with single-image 3D human mesh reconstruction, using reconstructed body geometry as a scaffold for contact reasoning. Existing approaches either focus on contact prediction without sufficiently exploiting explicit 3D human priors, or emphasize pose/mesh reconstruction without directly optimizing robust vertex-level contact inference under occlusion and perceptual noise. To address this gap, we propose GraphiContact, a pose-aware framework that transfers complementary human priors from two pretrained Transformer encoders and predicts per-vertex human-scene contact on the reconstructed mesh. To improve robustness in real-world scenarios, we further introduce a Single-Image Multi-Infer Uncertainty (SIMU) training strategy with token-level adaptive routing, which simulates occlusion and noisy observations during training while preserving efficient single-branch inference at test time. Experiments on five benchmark datasets show that GraphiContact achieves consistent gains on both contact prediction and 3D human reconstruction. Our code, based on the GraphiContact method, provides comprehensive 3D human reconstruction and interaction analysis, and will be publicly available at https://github.com/Aveiro-Lin/GraphiContact.