ContactGen: Generative Contact Modeling for Grasp Generation

This paper presents a novel object-centric contact representation <PRE_TAG>ContactGen</POST_TAG> for hand-object interaction. The <PRE_TAG>ContactGen</POST_TAG> comprises three components: a <PRE_TAG>contact map</POST_TAG> indicates the contact location, a <PRE_TAG>part map</POST_TAG> represents the contact hand part, and a <PRE_TAG>direction map</POST_TAG> tells the contact direction within each part. Given an input object, we propose a <PRE_TAG>conditional generative model</POST_TAG> to predict <PRE_TAG>ContactGen</POST_TAG> and adopt <PRE_TAG>model-based optimization</POST_TAG> to predict diverse and geometrically feasible grasps. Experimental results demonstrate our method can generate high-fidelity and diverse human grasps for various objects. Project page: https://stevenlsw.github.io/contactgen/