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# ContactGen: Generative Contact Modeling for Grasp Generation
Shaowei Liu, Yang Zhou, Jimei Yang, Saurabh Gupta*, Shenlong Wang* in ICCV 2023
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<title><span style="color: rgb(125, 0, 255);font-weight: bolder;">ContactGen</span>: Generative Contact Modeling for Grasp Generation</title>

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<h1 class="title is-1 publication-title"><span style="color: rgb(125, 0, 255);font-weight: bolder;">ContactGen</span>: Generative Contact Modeling for Grasp Generation</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://stevenlsw.github.io/">Shaowei Liu</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://yzhou359.github.io/">Yang Zhou</a><sup>2</sup>,</span>
<span class="author-block">
<a href="https://jimeiyang.github.io/">Jimei Yang</a><sup>2</sup>,</span>
<span class="author-block">
<a href="https://saurabhg.web.illinois.edu/"">Saurabh Gupta*</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://shenlong.web.illinois.edu/">Shenlong Wang*</a><sup>1</sup>
</span>
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<span class="author-block"><sup>1</sup>University of Illinois Urbana-Champaign,</span>
<span class="author-block"><sup>2</sup>Adobe Research</span><br/>
<span class="authors-block">&ast; Equal Advising</span>
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<span class="author-block">ICCV 2023</span>
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<h2 class="title is-3">Abstract</h2>
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<p>
This paper presents a novel object-centric contact representation <span style="color: rgb(125, 0, 255);font-weight: bolder;">ContactGen</span> for hand-object interaction.
The <span style="color: rgb(125, 0, 255);font-weight: bolder;">ContactGen</span> comprises three components: a contact map indicates the contact location,
a part map represents the contact hand part,
and a direction map tells the contact direction within each part.
Given an input object, we propose a conditional sequential generative model to predict <span style="color: rgb(125, 0, 255);font-weight: bolder;">ContactGen</span>
and adopt model-based optimization to predict diverse and geometrically feasible grasps.
Experimental results demonstrate our method can generate high-fidelity and diverse human grasps for various objects.
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<pre><code>@inproceedings{liu2023contactgen,
title={ContactGen: Generative Contact Modeling for Grasp Generation},
author={Liu, Shaowei and Zhou, Yang and Yang, Jimei and Gupta, Saurabh and Wang, Shenlong},
booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision},
year={2023}
}
}
</code></pre>
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